7-18
7-4 Manual Tuning
Adjustment Functions
7
Inertial Estimations
Pn010, Pn018 Position Loop Gain
This loop controls the pulse count from the encoder so that the count will become a specified value.
When the deviation counter’s pulse count drops below the specified value, positioning is completed
and a signal is output. The ratio of the maximum speed to the deviation counter is the Position Loop
Gain.
The reciprocal of the Speed Loop Integration Time Constant (Pn012) should be used as a reference
for setting the Position Loop Gain.
For example, if Pn012 is set to 100 ms, set the Position Loop Gain to 10 [1/s].
There will be no overshooting with these settings. To speed up the positioning process, increase
the Position Loop Gain. If the Position Loop Gain is too large, overshooting or vibrations may occur.
In this case, reduce the Position Loop Gain.
If the vibration is occurring in the Speed Loop or the Current Loop, adjusting the Position Loop does
not stop the vibration.
The response to Position Loop Gain adjustment is shown below.
High Position Loop Gain causes overshooting.
Low Position Loop Gain slows down the positioning process.
Small inertia 5 times the rotor inertia or less
Medium inertia 5 to 10 times the rotor inertia or less
Large inertial 10 to 20 times the rotor inertia or less
Command maximum speed [pps]
Number of accumulated pulses
in the deviation counter (P)
Position Loop Gain [1/s]=
Actual Servomotor speed
Commnaded operation pattern
Speed
(r/min)
time
Actual Servomotor speed
Commanded operation pattern
Speed
(r/min)
time
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