Parameter functions: Set the position regulator gain APR_P to determine responsiveness of the position control system. The greater the set value of APR_P is, the higher the response frequency is, the better the position command followability is, the smaller the position error is, and the shorter the position adjustment time is. However, it shall be noted that if the value is set too great, vibration may be caused. Parameter functions: Set the speed regulator gain ASR_P to determine responsiveness of the speed control loop. The greater the set value of ASR_P is, the higher the speed loop response frequency is and the better the position command followability is.
To increase the position loop gain for improvement of the servo system responsiveness, it is required to increase the set value of the speed loop gain. However, it shall be noted that if the value is set too great, vibration may be caused.
126 Technical Manual for EA190 Series Servo Driver V100 P4-01 P4-02 P4-03 P4-05 P4-29 Position loop proportional gain 1/s Speed loop proportional gain Hz Speed loop integral time constant, ms Torque command low-pass smoothing constant, ms 1 2.5 2.0 280.0 11.00 2 3.0 2.5 220.0 9.00 3 4.0 3.0 190.0 8.00 4 4.5 3.5 160.0 6.00 5 5.5 4.5 120.0 5.00 6 7.5 6.0 90.0 4.00 7 9.5 7.5 70.0 3.00 8 11.5 9.0 60.0 3.00 9 14.0 11.0 50.0 2.00 10 17.5 14.0 40.0 2.00 11 32.0 18.0 31.0 1.26 12 39.0 22.0 25.0 1.03 13 48.0 27.0 21.0 0.84 14 63.0 35.0 16.0 0.65 15 72.0 40.0 14.0 0.57 16 90.0 50.0 12.0 0.45 17 108.0 60.0 11.0 0.38 18 135.0 75.0 9.0 0.30 19 162.0 90.0 8.0 0.25 20 206.0 115.0 7.0 0.20 21 251.0 140.0 6.0 0.16 22 305.0 170.0 5.0 0.13 23 377.0 210.0 4.0 0.11 24 449.0 250.0 4.0 0.09 25 500.0 280.0 3.5 0.08 26 560.0 310.0 3.0 0.07 27 610.0 340.0 3.0 0.07 28 660.0 370.0 2.5 0.06 29 720.0 400.0 2.5 0.06 30 810.0 450.0 2.0 0.05 31 900.0 500.0 2.0 0.05 P4-02 Position loop gain APR P _ Initial value 48.0 Communication address 0402H Unit 1/s Time of taking effect With immediat e effect Setting range 1.0~2000.0 Data size 16bit Control mode P P4-03 Speed loop gain ASR-P Initial value 27.0 Communication address 0403H Unit Hz Time of taking effect With immediate effect Setting range 0.1~5000.0 Data size 16bit Control mode P S