Product specifications

Chapter 6 Setting up parameters
HA-680_V04 - 75 -
6-2 Function of the parameters
00: Position loop gain (position / speed)
Function
This parameter specifies the gain of the position loop. Determine the value based on the frictional torque
and rigidity of the machine.
High setting The position error is small, and high tracking performance to commands is obtained. If
the setting is too high, the servo system will be unstable and hunting may easily occur; it
should be decreased so that no hunting can occur.
Low setting If the setting is too low, a problem may occur; for example, the tracking performance to
commands may be poor, or position precision may not be obtained.
When no hunting occurs and neither overshoot nor undershoot occurs, set the maximum gain.
For speed control, it is effective only when zero clamp is set (“Parameter” ”38: Zero clamp”).
Setting
unit Lower limit Upper limit Default
- 10 9999 note
Note: The actual setting varies with the AC servo actuator model. When changing the value, consider
the defaults shown in Section 6-3, "Default parameters" as the standard (guide setting).
01: Speed loop proportional gain (position / speed)
Function
This parameter specifies the proportional gain of the speed loop. Determine the value based on the
moment of inertia, the frictional torque, and the rigidity of the machine.
High setting If the setting is too high, the servo system will be unstable, and hunting and overshoot
will easily occur.
Low setting If the setting is too low, the responsiveness and tracking performance will be poor.
When no hunting occurs and neither overshoot nor undershoot occurs, set the maximum gain.
Setting
unit Lower limit Upper limit Default
- 10 9999 note
Note: The actual setting varies with the AC servo actuator model. When changing the value, consider
the defaults shown in Section 6-3, "Default parameters" as the standard (guide setting).
Overshoot
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timal
Time
Time