FATEK SD3 Series, Instruction Manual, Page: 294 / 396

2
(rad/s)
0dB
ω1 (rad/s) ω2 (rad/s)
FF1
FF2
SD3 Series Instruction Manual
7. Tuning
1. Introduction
1. Introduction
1. Overview
The goal of amplifier tuning is having a good control over the motor and optimizing equipment performance in
responding to commands from the host controller�
The position control method employs two degrees of freedom with the model-matching control� This method
enables you to adjust command response and turbulence response independently without compromising the
stability of your equipment�
SD3 Series is a servo system that does not let overshooting and undershooting happen when the equipment inertia
ratio is set appropriately�
SD3 Series features response models with two cutoff frequencies: ω 1 (Control Gain 1) and ω 2 (Control Gain 2)
Code Effect
ω 1
Control Gain 1
Responsiveness at settling
Increasing this item will reduce the position deviation at settling (after command ends)�
ω 2
Control Gain 2
Responsiveness during operation
Increasing this item will reduce the position deviation during operation (while
command being input)�
FF1
FF Compensation 1
Command compensation for ω 1
Increasing this item will improve the ω 1 response�
FF2
FF Compensation 2
Command compensation for ω 2
Increasing this item will improve the ω 2 response�
Response model for position control and two cutoff frequencies
Angular velocity
Control Gain 1
(Responsiveness
during settling)
Control Gain 2
(Responsiveness
during motion)
Increasing FF1 provides faster response
Increasing FF2 provides faster response
Gain
・Position loop gain
(*1)
:
=
ω 1 ω 2
ω 1 + ω 2
・Velocity loop gain
(*2)
: ω 1+ ω 2
*1)Position loop gain: It is equivalent to the "Kp" in a P-PI control�
*2)Velocity loop gain: It is equivalent to the "Kv" in a P-PI control�
The relation between cutoff frequencies and control gain parameters.