IS620P User Manual Chapter 4 Running and Commissioning
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Function
Code
Parameter
Name
Setting Range Unit Default
Effective
Time
Property
Control
Mode
H09 00
Auto-
adjusting
mode
0: Disabled, manual adjusting
1: Standard mode, gain
parameters automatically
adjusted based on rigidity
table
2: Positioning mode, gain
parameters automatically
adjusted based on rigidity
table
- 0 Immediate
During
running
PST
H09 01
Rigidity
level
selection
0–31 - 12 Immediate
During
running
PST
Recommended
Rigidity Level
Type of Load Mechanism
Level 4 to level 8 Large-scale machinery
Level 8 to level 15 Applications with low rigidity such as belt
Level 15 to level 20
Applications with high rigidity such as ball
screw and direct-connected motor
4.5.3 Manual Gain Adjustment
Set H09-00 to 0 and then manually adjust the related parameters.
When the position loop gain and speed loop gain are increased, the system response
becomes faster, but too large gains cause instability. In addition, when the load inertia ratio is
basically correct, the speed loop gain and position loop gain must meet the following condition
to guarantee system stability:
1
3
H08-00 [Hz]
H08-02 [Hz]
1
≤
≤
Increasing the torque reference îš¿lter time in H07-05 helps suppress the mechanical resonance
but reduces the system response. The îš¿lter time must not be increased randomly and must
meet the following condition:
Function
Code
Parameter Name Setting Range Unit Default
Effective
Time
Property
Control
Mode
H08 00 Speed loop gain 0.1–2000.0 Hz 25.0 Immediate
During
running
PS
H08 01
Speed loop
integral time
constant
0.15–512.00 ms 31.83 Immediate
During
running
PS
H08 02
Position loop
gain
0.0–2000.0 Hz 40.0 Immediate
During
running
P
H07 05
Torque reference
îš¿lter time
constant
0.00–30.00 ms 0.79 Immediate
During
running
PST
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