Sharp CP-SR421 User Manual download pdf (Page 161)

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6. NORMAL GAIN ADJUSTMENT

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3) [Pr. PB08 Position loop gain]

This parameter determines the response level to a disturbance to the position control loop.

Increasing the value increases the response level to the disturbance, but a too high value will

increase vibration of the mechanical system.

Position loop gain guideline 

(1 + ࠨ࡯ࡏࡕ࡯࠲ߦኻߔࠆ

⽶⩄ᘠᕈࡕ࡯ࡔࡦ࠻Ყ

)

ㅦᐲ೙ᓮࠥࠗࡦ

⸳ቯ୯

㨪

4) [Pr. PB07 Model loop gain]

This parameter determines the response level to a position command. Increasing the value

improves track ability to a position command, but a too high value will make overshoot liable to

occur at settling.

Model loop gain guideline 

(1 + ࠨ࡯ࡏࡕ࡯࠲ߦኻߔࠆ

⽶⩄ᘠᕈࡕ࡯ࡔࡦ࠻Ყ

)

ㅦᐲ೙ᓮࠥࠗࡦ

⸳ቯ୯

㨪

Speed loop gain setting

(1 + Load to motor inertia ratio) × 2Ƈ

Speed loop gain setting

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Sharp CP-SR421 User Manual Page 161

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