Specifications

Chapter 6 Setting up parameters
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[Tune mode]
Speed loop integral compensation (pos./spd.)
● Function
The HA-655 driver is equipped with a [Speed loop integral
compensation] function to make speed fluctuation minimal
against load torque variation. The relation between the
gain and actuator motion is as follows:
High gain ⇒ eliminates hunting and gives low response to
load torque variation.
Low gain ⇒ high response to load torque variation,
excessive gain makes the servo system
hunt.
● Details of display
1st digit: [0:Speed loop integral compensation]
2nd to 6th digit: Indicates the current [Speed loop integral
compensation]. A value from [1] to [9999] can
be set.
● Operations
(1) To change a value, press the [ADJ] key at least 0.1 second.
⇒1st digit [1] flashes. You can change the value.
(2) When the actuator does hunting, press the [DOWN] key to set a lower value.
When the response is low to load torque variation, press the [UP] key to set a higher value.
(3) To define the new value, press the [SET] key at least 0.1 second.
⇒ Flashing of 1st digit [1] stops and the new value is defined.
(4) To cancel a change in operation, press the [ADJ] key at least 0.1 second.
⇒Flashing of 1st digit [1] stops and the previous value becomes effective.
● Related functions
[Speed loop gain]: [tune mode]→[0:Speed loop gain]
[Position loop gain]: [tune mode]→[2:position loop gain]
[Feed forward gain]: [tune mode]→[3:Feed forward gain]
D O W N U P A D J S E T
Indicates the current the [speed loop
integral compensation].
Speed loop integral
compensation
1st digit 6th digit