Справочник Пользователя для Mitsubishi Electronics MDS-R

 
 
 

 

 

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The position loop gain (SV003 (PGN1)) is a parameter that determines the trackability to the 
command position. 33 is set as a standard. Set the same position loop gain value between 
interpolation axes.  
When PGN1 is raised, the trackability will be raised and the settling time will be shortened, but a speed 
loop that has a responsiveness that can track the position loop gain with increased response will be 
required. If the speed loop responsiveness is insufficient, several Hz of vibration or overshooting will 
occur during acceleration/deceleration. Vibration or overshooting will also occur when VGN1 is 
smaller than the standard value during VIA adjustment, but the vibration in the position loop occurs 
generally 10Hz or less. (The VIA vibration occurs from 10 to 20Hz.) When the position control includes 
machine resonance points (Position control machine resonance points occur at the machine end 
parts, etc.) because of insufficient machine rigidity, the machine will vibrate during positioning, etc. In 
either case, lower PGN1 and adjust so that vibration does not occur.  
If the machine also vibrates due to machine backlash when the motor stops, the vibration can be 
suppressed by lowering the PGN1 and smoothly stopping.  
If SHG control is used, an equivalently high position loop gain can be maintained while suppressing 
these vibrations. To adjust the SHG control, gradually raise the gain from a setting where 1/2 of a 
normal control PGN1 where vibration did not occur was set in PGN1. If the PGN1 setting value is 
more than 1/2 of the normal control PGN1 when SHG control is used, there is an improvement 
effect in position control. (Note that for the settling time the improvement effect is at 1/   2  or more.)  

 

SV003 

PGN1  Position loop gain 1  Set the position loop gain. The standard setting is "33". 

The higher the setting value is, the more precisely the command can be 
followed and the shorter the positioning time gets, however, note that a 
bigger shock is applied to the machine during acceleration/deceleration. 
When using the SHG control, also set SV004 (PGN2) and SV057 
(SHGC). 

1 to 200 

(rad/s) 

SV004 

PGN2  Position loop gain 2  Set 0. (For SHG control) 

0 to 999 

SV057  SHGC  SHG control gain 

Set 0. (For SHG control) 

0 to 1200 

 

 

 

Always set the same value for the position loop gain between the interpolation 
axes. 

 

 

During spindle synchronous control (synchronous tapping control, etc.), there are three sets of 
position loop gain parameters besides the normal control. 

 

SV049  PGN1sp  Position loop gain 1 

in spindle 
synchronous control 

Set 15 as a standard. 

1 to 200 

(rad/s) 

SV050  PGN2sp  Position loop gain 2 

in spindle 
synchronous control 

Set 0 as a standard. 
(For SHG control) 

0 to 999 

SV058  SHGCsp  SHG control gain in 

spindle synchronous 
control 

Set 0 as a standard.  
(For SHG control) 

Set the same parameter as the 
position loop gain for the spindle 
synchronous control. 

0 to 1200 

 

 

 

Always set the same value for the position loop gain between the spindle and 
servo synchronous axes.