Summa Series Servodrive Product Manual
Tuning
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
9-2
Table 9-1
Comparison of the graphics before and after tuning
Indicator
Before tuning
After tuning
Speed step response
Position following
Anti-load disturbance
9.1.2
Control Block Diagram
It is necessary to learn the Servo control principle and Figure 9-2 shows the Servo control block diagram.
The position loop, the speed loop and the torque loop are cascade structures, corresponding to the position
control mode, the speed control mode and the torque control mode respectively.
Figure 9-2
Servo control block diagram
Position loop
Speed loop
Torque loop
Position
reference
Torque
reference
M
Current
Encoder
Motor
Speed
Position
Kp: Position loop ratio
Kv: Speed loop ratio
Ti: Speed loop integration time
JL: Load inertia percentage
Tf: Torque reference filter time
Speed
reference
NOTE
: only the basic tuning parameters during the tuning are shown in the figure.
