6
Motion Parameters
6.4.2
Setting Parameter List
6-38
( 22 ) Gain and Bias Settings
OW

2E
Position Loop Gain
Setting Range Setting Unit Default Value
0 to 32767 0.1/s 300
Description
Determine the responsiveness for the SERVOPACK’s position loop.
If the position loop gain is set high, the responsiveness is high and the positioning time is short. Set the optimum value for
the machine rigidity, inertia, and type of Servomotor. The actual machine operation depends on the settings in the
SERVOPACK parameters. Refer to 11.1 Parameters That Are Automatically Updated on page 11-2 for information on
automatic updating of parameters.
If this parameter changes, the corresponding SERVOPACK parameter will change automatically. This function is
achieved using the Servo command expansion area and can be executed when using the MECHATROLINK-II (32-byte
Mode) communication method. The motion command KPS must be used to make changes to this parameter.
OW

2F
Speed Loop Gain
Setting Range Setting Unit Default Value
1 to 2000 Hz 40
Description
Determine the responsiveness for the SERVOPACK’s speed loop.
The Servo system will be more stable the higher this parameter is set, as long as the value is within the range in which the
mechanical system does not oscillate. The actual machine operation depends on the settings in the SERVOPACK
parameters. Refer to 11.1 Parameters That Are Automatically Updated on page 11-2 for information on automatic
updating of parameters.
If this parameter changes, the corresponding SERVOPACK parameter will change automatically.
This function is achieved using the Servo command expansion area and can be executed when using the
MECHATROLINK-II (32-byte Mode) communication method. The motion command KVS must be used to make
changes to this parameter.
OW

30
Speed Feed Forward Compensation
Setting Range Setting Unit Default Value
0 to 32767 0.01% 0
Description
Reduces positioning time by applying feed forward compensation.
This setting is effective for positioning control commands. Always set this parameter to 0 for phase control.
If this parameter changes, the corresponding SERVOPACK parameter will change automatically.
This function is achieved using the Servo command expansion area and can be executed when using the
MECHATROLINK-II (32-byte Mode) communication method. The motion command KFS must be used to make
changes to this parameter.
OW

31
Speed Amends
Setting Range Setting Unit Default Value
−
32768 to 32767
0.01% 0
Description
Set the speed feed forward gain as a percentage of the rated speed for the interpolation (INTERPOLATE), phase reference
(PHASE), and latch (LATCH) commands.
The setting unit for this parameter is 0.01% (fixed).

Secondary Speed Compensation (OL

16) can be used with the phase reference command (PHASE) ,
and the unit can be selected for OL

16. When used at the same time as OL

16, speed compensation
can be applied twice.
OW

32
Position Integration Time Constant
Setting Range Setting Unit Default Value
0 to 32767 ms 0
Description
Set the position loop integration time constant.
Use this parameter to improve the following precision in applications such as electronic cams or shafts.
The actual machine operation depends on the settings in the SERVOPACK parameters. Refer to 11.1 Parameters That
Are Automatically Updated on page 11-2 for information on automatic updating of parameters.
If this parameter changes, the corresponding SERVOPACK parameter will change automatically.
This function is achieved using the Servo command expansion area and can be executed when using the
MECHATROLINK-II (32-byte Mode) communication method. The motion command KIS must be used to make changes
to this parameter.
There is no parameter to set the integration time constant in the SGD-N or SGDB-N SERVOPACK, so the Position
Integration Time Constant cannot be used.
Position
Phase
Speed
Torque
Position
Phase
Speed
Torque
Position
Phase
Speed
Torque
R
Position
Phase
Speed
Torque
Position
Phase
Speed
Torque
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