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PARAMETERS
141
Position control by vector control
4.6.6 Gain adjustment of position control (Pr. 422, Pr. 423, Pr. 425)
(1) Position loop gain (Pr. 422 )
⋅ Make adjustment when any of such phenomena as unusual vibration, noise and overcurrent of the motor/machine
occurs.
⋅ Increasing the setting improves trackability for the position command and also improves servo rigidity at a stop, but
oppositely makes an overshoot and vibration more liable to occur.
⋅ Normally set this parameter within the range about 5 to 50.
(2) Position feed forward gain (Pr. 423 )
⋅ This function is designed to cancel a delay caused by the droop pulses of the deviation counter.
⋅ When a tracking delay for command pulses poses a problem, increase the setting gradually and use this parameter
within the range where an overshoot or vibration will not occur.
⋅ This function has no effects on servo rigidity at a stop.
⋅ Normally set this parameter to 0.
Easy gain tuning is available as an easy tuning method. Refer to page 105 for easy gain tuning.
If it does not produce any effect, make fine adjustment by using the following parameters.
Set "0" in Pr. 819 Easy gain tuning selection before setting the parameters below.
Parameter
Number
Name Initial Value
Setting
Range
Description
422 Position loop gain
25s
-1
0 to 150s
-1
Set the gain of the position loop.
423 Position feed forward gain 0% 0 to 100%
Function to cancel a delay caused by the droop
pulses of the deviation counter.
425
Position feed forward
command filter
0s 0 to 5s
Enters the primary delay filter in response to the
feed forward command.
The above parameters can be set when the FR-A7AP/FR-A7AL (option) is mounted.
Phenomenon/Condition Pr. 422 Adjustment
Slow response
Increase the setting value.
Increase the value 3s
-1
by 3s
-1
until just before an overshoot, stop-time vibration or other instable
phenomenon occurs, and set about 0.8 to 0.9 of that value.
Overshoot, stop-time
vibration or other instable
phenomenon occurs.
Decrease the setting value.
Decrease the value 3s
-1
by 3s
-1
until just before an overshoot, stop-time vibration or other instable
phenomenon does not occur, and set about 0.8 to 0.9 of that value.
Vector
Vector
Vector