position / speed mode - Harmonic Drive LLC

Chapter 6Setting up parameters
[Tune mode]
Speed loop integral compensation
(pos./spd.)
Function
1st digit
6th digit
The HA -655 driver is equipped with a [Speed loop integral
compensation] function to make speed fluctuation minimal
against load torque variation. The relation between the
gain and actuator motion is as follows:
High gain eliminateshunting and gives low response to
load torque variation.
Low gain high response to load torque variation,
excessive gain makes the servo system
hunt.
Details of display
1st digit: [0:Speed loop integral compensation]
2nd to 6th digit: Indicates the current [Speed loop integral
compensation]. A value from [1] to [9999] can
be set.
U P D O W N A D J S E T
Speed loop integral
compensation
Indicates the current the [speed loop
integral compensation].
Operations
(1) To change a value, press the [ADJ] key at least 0.1 second.
1st digit [1] flashes. You can change the value.
(2) When the actuator does hunting, press the [DOWN] key to set a lower value.
When the response is low to load torque variation, press the [UP] key to set a higher value.
(3) To define the new value, press the [SET] key at least 0.1 second.
Flashing of 1st digit [1] stops and the new value is defined.
(4) To cancel a change in operation, press the [ADJ] key at least 0.1 second.
Flashing of 1st digit [1] stops and the previous value becomes effective.
Related functions
[Speed loop gain]: [tune mode][0:Speed loop gain]
[Position loop gain]: [tune mode][2:position loop gain]
[Feed forward gain]: [tune mode][3:Feed forward gain]
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