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6. NORMAL GAIN ADJUSTMENT
6 - 18
(4) Parameter adjustment
[Pr. PB07 Model loop gain]
This parameter determines the response level of the position control loop. Increasing the value improves
track ability to a position command, but a too high value will make overshoot liable to occur at settling.
The droop pulses value is determined by the following expression.
Number of droop pulses [pulse] =
Model loop gain setting
Position command frequency [pulse/s
]
Position command frequency differs depending on the operation mode.
Rotary servo motor and direct drive motor:
Position command frequency
=
Speed [r/min]
60
× Encoder resolution (number of pulses per servo motor revolution)
Linear servo motor:
Position command frequency = Speed [mm/s] ÷ Encoder resolution (travel distance per pulse)