User Manual
39
6. Operation: Mode Flow Chart
(12) Gain Set (Displayed in Version V1.10 or later)
(Note) Setting is available only on SCON-CA.
6 parameters necessary for Servo Gain Adjustment are gathered to make up 1 set.
4 types of settings are able to be registered and the servo gains can be switched over for each
positioning operation.
[Parameters constructed in 1 set]
• Servo Gain Number (Position Gain)
• Position Feed Forward Gain
• Speed Loop Proportion Gain
• Speed Loop Integration Gain
• Torque Filter Time Constant
• Current Control Band Number
Setting Operation after Positioning Complete Parameter No.
0 Gain Set 0 7, 71, 31 to 33, 54
1 Gain Set 1 120 to 125
2 Gain Set 2 126 to 131
3 Gain Set 3 132 to 137
(13) Vibration Control No. (Displayed in Version V1.10 or later)
(Note) Setting is available only on SCON-CA.
It controls the vibration (resonance) generated by the load due to the mounted actuator.
It possesses a capacity to deal with 3 types of vibration.
There are 3 parameters corresponds to 1 type of vibration and they are compiled in 1 set.
Set the parameter set corresponds to the position number necessary for the vibration control in
the position table.
Setting
Vibration Control Frequency
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Parameter No.
0
Standard Position Control
(No Vibration Control)
-
1 Vibration Control Parameter Set 1 97 to 100
2 Vibration Control Parameter Set 2 101 to 104
3 Vibration Control Parameter Set 3 105 to 108
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(2) Thevibrationcontrolisapplicableonlyforthevibrationgeneratedbytheloadof
the actuator connected to this controller. Other vibrations cannot be controlled.
(3) Thevibrationcontrolisapplicableonlyforthevibrationinthedirectionofthe
actuator operation. Vibration in other directions cannot be controlled.
(4) The vibration control is not applicable for home-return and pressing operations.
(5) ItdoesnotcorrespondstoPulseTrainInputMode.
(6) If the vibration frequency setting is low, the takt time may become long. The value
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