common - Sanyo Denki America, Inc.

Pulse Train Input Interface
4.5.2 Adjustment Methods
a) Proportional gain of velocity loop
Increase the proportional gain of velocity loop gradually as long as there is no oscillation in the
motor or the load. As the gain increases, the velocity waveform changes as shown below. By
increasing the proportional gain as much as possible without oscillation, high response can be
achieved.
Low proportional gain
High proportional gain
Increasing the proportional gain may increase the noise of the motor.
b) Integral gain of velocity loop
As this is the delay factor for the servo system, a high setting will adversely affect
responsiveness. A low setting may render the servo system unstable. Select an
appropriate value after checking the vibration and oscillation status of the machine
system.
If the response before positioning is slow due to gravity load and single load, adjust by
increasing the integral gain of velocity loop.
c) Proportional gain of position loop
Increasing the proportional gain of position loop will quicken response and shorten
positioning time. However, oscillation may occur if the rigidity of the machine system is low.
Adjust in the range that is free of load oscillation.
Adjustment by operation profile
If overshooting during acceleration or undershooting during stoppage is not solved by
gain adjustment, this may be due to torque shortage. Check motor size, load conditions or
operation profile (moderate acceleration / deceleration rate).
eControl switch frequency setting
Sets the switching frequency of Open / Close control by Command E2h.
Especially during slow motion operation, setting the switching frequency above the
operation frequency and operating with Open control may reduce oscillation.
Control switch frequencysetting value × 2000PPS
During slow move operationCommand frequency(PPS)
Normal operationUse at Start frequency+2000(PPS)
Command
frequency
+2000
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