5-79
5-7-2 Rigidity Setting
Parameter Name Setting Description
◆
qn501
Speed Loop Gain 1
10
│
1500
Speed loop gain has a direct effect on the frequency
response bandwidth of the Speed-control loop.
Without causing vibration or noise Speed-loop-gain can
be increased to obtain a faster speed response.
If Cn025 (load Inertia ratio) is correctly set, the
speed-loop-bandwidth will equal to speed-loop-gain.
◆
qn502
Speed-loop Integral time 1
1
│
5000
Speed loop integral element can eliminate the steady
speed error
and react to even slight speed variations.
Decreasing Integral time can improve system rigidity.
The formula below shows the relationship between
Integral time and Speed loop Gain.
◆
qn505
Position Loop Gain 1
1
│
1000
Without causing vibration or noise on the mechanical
system the position loop gain value can be increased
to speed up response and shorten the positioning time.
Generally, the position loop bandwidth should not be
higher then speed loop bandwidth. The relationship is
according to the formula below:
◆
qn507
Position Loop Feed
Forward Gain
0
│
100
It can be used to reduce the follow up error of position
control and speed up the response.
If the feed forward gain is too large, it might cause
speed
Overshoot and in position oscillations which result in
the repeated ON/OFF operation of the output contact
INP(“In Position” output signal)
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