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MDS-D2/DH2 Series Instruction Manual
5.3 Characteristics Improvement
5.3.4 Improvement of Characteristics during Acceleration/Deceleration
<SHG control>
Because SHG control has a smoother response during acceleration/deceleration than conventional position
controls, the acceleration/deceleration torque (current FB) has more ideal output characteristics (A constant torque
is output during acceleration/deceleration.) The peak torque is kept low by the same acceleration/deceleration time
constant, enabling the time constant to be shortened.
Refer to item "(3) SHG control" in section "Position Loop Gain" for details on setting SHG control.
No. Abbrev. Parameter name Setting ratio Setting example Explanation Setting range
SV003
(SV049)
PGN1
(PGN1sp)
Position loop gain 1 1 21 27 33 39 48
Always set with
a combination
of these three
parameters.
1 to 200
(rad/s)
SV004
(SV050)
PGN2
(PGN2sp)
Position loop gain 2 8/3 56 72 88 104 128
0 to 999
(rad/s)
SV057
(SV058)
SHGC
(SHGCsp)
SHG control gain 6 126 162 198 234 288
0 to 1200
(rad/s)
0
0
3000
200
-200
-3000
Acceleration/deceleration characteristics during conventional control
Speed command
(r/min)
Current FB
(stall current %)
Time
Time
0
0
3000
200
-200
-
3000
Acceleration/deceler ation characteristics durin
g
SHG control
Speed command
(r/min)
Current FB
(
stall current %
)
Time
Time