JS Automation YPV-040, User Manual

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15.11 Speed Loop Gain 2
The KVI,KVP of speed loop gain2 is used as the speed is lower than SSPD setting value.
KVI : Speed loop integral constant
KVP : Speed loop proportional gain
SSPD : speed loop gain1 and speed loop gain2 switching level at speed of % rated speed
Note:
KVI : corresponds to the static stiffness of the speed loop, and is the inverse of the integral time
constant of the speed compensator. A higher set value means a shorter integral time, and consequently a
shorter response time is expected. This parameter is interrelated with KPP and should be tuned to induce
no mechanical vibration.
Default value (130) Maximum value (32767)
KVP : corresponds to the dynamic response of the speed loop, and is the proportional gain of the speed
compensator. This parameter should be tuned properly according to the load inertia, and the larger the
KVI parameter is tuned, the shorter the rise time of speed response will be.
Default value (3000) Maximum value (32767)
KPP : corresponds to the dynamic response of the position loop, and is the proportional gain of the
position compensator under the position operation mode. This parameter should be tuned properly
dependent on the bandwidth of the internal speed loop, and the larger the KPP parameter is tuned, the
shorter the rise time of position response will be.
Default value (300) Maximum value (32767)
The normal sequence for tuning servo gains is: KVP KVI KPP
The following figures show the measured waveform of Monitor voltage signal for different tuning results
in the oscilloscope.