5. Commands and Functions - Sanyo Denki America, Inc.

4. Input / Output Signal Functions
4.6 Adjustments
4.6.1 Command 21h
Adjustments can be made to the proportional gain and the integral gain of the velocity loop from
16 levels of normalized settings.
The proportional gain is set based on the SW setting value, and increased gradually.
The integral gain is selected from 3 levels.
The setting values for the Gain Table are shown below:
SW Setting
Proportional
Integral Gain
SW Setting
Proportional
Integral Gain
Value
Gain
Value
Gain
0 4 1 8 20 20
1 6 10 9 22 1
2 8 20 A 24 10
3 10 1 B 26 20
4 12 10 C 28 1
5 14 20 D 30 10
6 16 1 E 32 20
7 18 10 F 34 1
Adjustment method
Increase the level gradually (0h→3h→6h→...), as long as there is no oscillation in the motor or
the load, and select the proportional gain. As the level increases, the gain also increases, and
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
Next, select the integral gain (time constant), while checking the load response and the
In-Position status. As for the integral, the time fixed number becomes big as raise the
numerical value.
4.6.2 Command 2Fh
Command 2Fh can coordinate proportional and integral gain individually.
When a fine adjustment of gain setting is necessary, please use this.
* Proportional Gain: Please do not set 0.
* Integral Gain: When set the 0, it does not arrive at order speed.
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