Manual

52
(16) Homing Deviation Pulse
Name Symbol Unit Input range
Default value
(reference)
Homing deviation pulse OPLS pulse 1~134217727
[A]
Half of the number
of encoder pulses
Set the amount of deviation at which the mechanical end is detected in a homing operation. The actuator
reverses if the amount of deviation reaches the setting value in a push operation to the mechanical end.
An appropriate value corresponding to the applicable actuator has been set at shipment from the factory.
The number of encoder pulses varies depending on the type of actuator. See (8), “Number of Encoder
Pulses.”
(17) Position Control Loop Proportional Gain
Name Symbol Unit Input range
Default value
(reference)
Position control loop
proportional gain
PLPG rad/sec 1~200 20
Set the proportional gain of the position control loop.
This parameter determines the response of the position control loop. Set a larger value to make the control
loop follow the position command signals more aggressively. Note, however, that over-shoot tends to occur
if the setting value is too large.
If the setting value is too small, the control loop does not follow position command signals well and
positioning takes longer.
It too large a value is set for systems whose mechanical rigidity or natural frequency is low, resonance may
occur in the mechanical parts, causing not only vibration and noise but also overload alarms (error code:
D0A).
In case it cannot be avoided to make the setting value small, it may be possible to improve the response by
setting parameter (19), “Position Feed-Forward Gain,” appropriately.
Speed
If the setting value is high (over-shoot)
If the setting value is low
Time