User manual

9 Functions and operations in the position control mode
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• Speed feed-forward rate
If the speed is constant, the deviation between the command position and actual position can be reduced to
shorten the settling time.
Setting the speed feed-forward rate to 100% will bring the deviation down to nearly 0. Note, however, that an
excessively high value may increase the motor overshoot or undershoot.
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Gains that can be set with automatic tuning/semi-auto tuning
In automatic tuning and semi-auto tuning, the gain is set automatically.
The table below summarizes different conditions and corresponding gains.
SW2 dial
setting
Value of mechanical
rigidity setting switch
parameter
Position
loop gain
[Hz]
Speed loop
gain [Hz]
Speed loop
integral time
constant [ms]
Speed
feed-forward
rate [%]
0 0 3 14 51.0 80
1 1 4 22 51.0 80
2 2 6 32 48.2 80
3 3 9 46 33.8 80
4 4 11 56 28.4 80
5 5 14 68 23.4 80
6 6 16 82 19.4 80
7 7 20 100 15.8 80
8 8 20 120 13.2 80
9 9 20 150 10.6 80
A 10 20 180 8.8 80
B 11 20 220 7.2 80
C 12 20 270 5.8 80
D 13 20 330 4.8 80
E 14 20 390 4.0 80
F 15 20 470 3.4 80
9.8 Command filter
You can apply a filter to the command position in order to make the acceleration/deceleration more gradual.
Decreasing the value of command filter will shorten the settling time. However, an excessively low value
may cause vibration.
Set an appropriate value in the application parameter for command filter parameter [APP-4-01].
Initial value: 3 ms
• Command filter = 0 ms
Command speed
Motor speed
END output
• Command filter = 100 ms
Command speed
Motor speed
END output