Справочник Пользователя для Mitsubishi Electronics IB-1500193(ENG)-D

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The position loop gain 1 (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 tool 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. Adjust SHG control by raising the gain gradually after setting PGN1 as 1/2 a value of 

PGN1 at which a vibration does not occur under the normal control. 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/

 or more.) 

【#2203】   SV003   PGN1   Position loop gain 1

Set the position loop gain. The standard setting is "33". 
The higher the setting value is, the more accurately the command can be followed, and the shorter 
the settling time in positioning gets, however, note that a bigger shock will be applied to the machine 
during acceleration/deceleration. 
When using the SHG control, also set SV004 (PGN2) and SV057 (SHGC). 

1 to 200 (rad/s)

【#2204】   SV004   PGN2   Position loop gain 2

When performing the SHG control, set the value of  "SV003 x 8/3" to "SV004".   
When not using the SHG control, set to "0".

0 to 999 (rad/s)

【#2257】   SV057   SHGC   SHG control gain

When performing the SHG control, set to SV003(PGN1)*6. 
When not using the SHG control, set to "0".

0 to 1200 (rad/s)

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

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