Maxsine EP3 AC Series, User Manual

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4.6 Gain adjustment
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4.6 Gain adjustment
The servo driver includes the current control loop, the speed control loop and the position
control loop. The control diagram is as follows:
Theoretically, the inner control loop bandwidth must be higher than the outer loop; otherwise,
the entire control system will be unstable and creates the vibration or worse response. Therefore,
the relations of the bandwidth of the three control loops are as follows:
Bandwidth of the current loop>bandwidth of the speed loop>bandwidth of the of the
position loop
Because the current control loop of the servo driver is already adjusted in an optimum
condition, the only parameters of speed and position control loops have to be adjusted by the user.
4.6.1 Gain parameters
The parameters related to the gain are:
Parame
ter
Name Range
Default
value
Unit Usage
P005 First gain of speed loop 1 ～ 3000 40 Hz P,S
P006
First integral time constant of
speed loop
1.0
～
1000.0 20.0 ms P,S
P009 First gain of position loop 1
～
1000 40 1/s P
P010 Second gain of speed loop 1
～
3000 40 Hz P,S
P011
2nd integral time constant of
speed loop
1.0
～
1000.0 20.0 ms P,S
P013 Second gain of position loop 1
～
1000 40 1/s P
P017 Ratio of load inertia 0.0
～
200.0 1.0 times P,S
The definition of symbol as follows:
K
v
： The gain of speed loop;