4. PARAMETERS FOR POSITIONING CONTROL
4 − 14
4.3.3 Position control gain 1, 2
(1) Position control gain 1
(a) Position control gain 1 is set in order to make the stabilization time shorter.
(b) If the position control gain 1 is too high, it could cause overshoot and the
value must therefore be adjusted so that it will not cause overshoot or
undershoot.
Undershoot
Overshoot
Time
Motor speed
(2) Position control gain 2
(a) Position control gain 2 is set in order to increase position response with
respect to load disturbance.
(b) Calculate the position control gain 2 value to be set from the load inertia
ratio and the speed control gain 2.
Speed control gain 2 1
Position control gain 2 =
1 + load inertia ratio
×
10
POINTS
(1) If the position control gain 1 setting is too low, the number of droop
pulses will increase and a servo error (excessive error) will occur at high
speed.
(2) The position control gain 1 setting can be checked from a peripheral
device.
(For the method used to execute this check, refer to the operating
manual for the peripheral device used.)
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