Specifications

Chapter 6 Setting up parameters
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[Tune mode]
Position loop gain (position / speed mode)
● Function
The HA-655 driver is equipped with triple feedback loops
of position, speed and current to make actuator motion
follow position command precisely. The [position loop
gain] adjusts proportional gain of feedback loop gain. The
relation between the gain and actuator motion is as
follows:
High gain ⇒ obtains small position and following error.
Excessive gain makes the servo system
unstable and causes it to hunt.
Low gain ⇒ Inadequate gain results in a large following
error to command signal.
Set the highest gain within the limits of no hunting, no
overshooting nor undershooting by a step command.
● Details of display
1st digit: [2: position loop gain]
2nd to 6th digit: Indicates current [position loop gain]. A
value from [10] to [9999] can be set.
● Operations
(1) To change a value, press the [ADJ] key at least 0.1 second.
⇒1st digit [2] flashes. You can change the value.
(2) When the actuator does hunting, press the [DOWN] key to set a lower value.
When the position following a command is poor, press the [UP] key to set a higher value.
(3) To define a new value, press the [SET] key at least 0.1 second.
⇒ Flashing of 1st digit [2] 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 [2] stops and the previous value becomes effective.
● Related functions
[Speed loop gain]: [tune mode]→[0:Speed loop gain]
[Speed loop integral compensation]: [tune mode]→[1:Speed loop integral compensation]
[Feed forward gain]: [tune mode]→[3:Feed forward gain]
D O W N U P A D J S E T
Position loop gain
Indicates the current
[position loop gain]
1st digit 6th digit