User manual of EL8-EC***F AC Servo
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Chapter 6 Application
6.1 Gain Adjustment
In order for servo driver to execute commands from master device without delay and to
optimize machine performance, gain adjustment has to be done yet.
Low gain
Actual velocity
Command velocity
[r/min]
+3000
-3000
0
200
400
600
High gain
0
200
400
600
High gain + feedforward
0
200
400
600
Position loop gain
: 320 (0.1/s)
Velocity loop gain
: 180 (0.1Hz)
Velocity loop integral time
constant
: 31ms
Position loop gain
: 900 (0.1/s)
Velocity loop gain
: 500 (0.1Hz)
Velocity loop integral time
constant
: 31ms
Position loop gain
: 900 (0.1/s)
Velocity loop gain
: 500 (0.1Hz)
Velocity loop integral time
constant
: 31ms
Servo driver gain adjustment is done in combination with a few other parameters (Inertia
ratio, Position loop gain, Velocity loop gain and Filters settings). These parameters will
have an effect on each other so it always advisable to tune each parameter accordingly in
order to achieve optimal machine performance. Please refer to the steps below
