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MDS-D-SVJ3/SPJ3 Series Instruction Manual
5-2 Adjustment procedures for each control
【#13005】 SP005 VGN1 Speed loop gain 1
Set the speed loop gain.
Set this according to the load inertia size.
The higher setting value will increase the accuracy of control, however, vibration tends to occur.
If vibration occurs, adjust by lowering by 20 to 30%.
The final value should be 70 to 80% of the value at which the vibration stops.
---Setting range---
1 to 9999
(4) Adjusting the position loop gain (SP001: PGV non-interpolation mode position loop gain)
After setting the speed gain, in order to perform acceleration/deceleration operation, set the position
loop gain (SP001) by increasing its setting value from 15. When overshooting occurs at the time of
acceleration/deceleration completion, or when oscillation of the q axis current command gets bigger
during a set rotation, the position loop gain is in limit state. Note that standard position loop gain below is
set for the setting gain.
Method for checking the limitation of position loop gain
(Example)As the closest value should be selected from the standard setting range shown below, set 47
to SP001 when the limit gain is 55.
【#13001】 SP001 PGV Position loop gain non-interpolation mode
Set the position loop gain for "Non-interpolation" control mode.
When the setting value increases, the command tracking ability will enhance and the positioning
settling time can be shorter. However, the impact on the machine during acceleration/deceleration
will increase.
Use the selection command, the control mode "bit 2, 1, 0 = 000" in control input 4.
(Note) The control mode is commanded by NC.
---Setting range---
1 to 200 (1/s)
Change "Excessive error detection width" (SP053) when "Position loop gain" (SP001) is changed.
Standard position loop gain 15 18 21 23 26 33 38 47 60 70
CAUTION
0
Speed waveform (Set Ch1: SP125=1)
The gain when overshooting
occurs is the limit.
0
q axis current comnd waveform
(Set Ch2: SP126=2)
When oscillation gets
bigger is the limit.