EURA SD20-G Series, Manual

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SD20-G Series
259
7.3.2 Automatic Gain Adjustment
When automatic gain adjustment, use rigidity selection function (Po010), servo drive will generate one
group of matching gain parameter to satisfy the requirements of rapidity and stability.
Make sure obtain load inertia ratio correctly before using the parameter of auto gain adjustment.
Related Parameter:
Po010
Rigidity Selection
speed position torque
Setting Range Setting Unit
Mfr’s Value
Effect
1~30 N/A 6 Immediate effect
Set Po010 for rigidity selection, setting range: 1~19, the bigger value is, the stronger rigidity is. System
will generate first group parameters of gain. The first gain group includes: first position loop gain Po301,
first speed loop proportional gain Po101, first speed loop integral time Po102, first speed filter time
constant Po105, first torque filter time constant Po214, first current loop bandwidth Po200.
Table 7.3.1 Rigidity Level and Related Parameters
Rigidity
Level
Po010
1
st
position
loop gain
Po301
1
st
Speed-loop
proportional
gain Po101
1
st
speed loop
integral time
Po102
1
st
speed
filter time
constant
Po105
1
st
current
loop
bandwidth
Po200
1
st
torque
filter time
constant
Po214
Servo
response
speed
1 384 100 5000 3200 1000 0
Slow
↓
Medium
↓
Fast
2 769 200 2500 1668 1000 0
3 1154 300 1666 1100 1000 0
4 1538 400 1250 830 1000 0
5 1923 500 1000 650 1000 0
6 2423 630 793 529 1000 0
7 2885 750 666 440 1000 0
8 3346 870 574 383 1000 0
9 3846 1000 500 330 1000 0
10 4308 1120 446 297 1000 0
11 4808 1250 400 260 1000 0
12 5270 1370 364 243 1000 0
13 5770 1500 333 220 1000 0
14 6231 1620 308 205 1000 0
15 6731 1750 285 190 1000 0