Maxsine EP3 AC Series, User Manual

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4.6 Gain adjustment
83
4
) (
2 ) / 1 (
Hz K
s K
v
p
 

4.6.2 Procedure for gain adjustment
The bandwidth selections of the position and the speed loop depend on the machinery
rigidity and the application situation. A leather belt conveyer has low rigidity and may set low
bandwidth. Machinery with reducer and ball bearing screw has medium rigidity and may set
medium bandwidth. Machinery with ball bearing screw or linear motor has higher rigidity and
may set high bandwidth. If mechanical characteristics are unknown, may gradually increase the
bandwidth until resonating, and then decreases the gain.
In the servo system, if changes a parameter, then other parameters also need to readjust.
Therefore, do not change a parameter far from its original value. About the steps for changing the
servo parameter, please observe the following principle generally:
Increase response Decrease response ， restrain vibration and
overshoot
1.Increase gain of speed loop K
v
2. Decrease integral time constant of speed
loop T
i
3. Increase gain of position loop K
p
1. Decrease gain of position loop K
p
2. Increase integral time constant of speed
loop T
i
3. Decrease gain of speed loop K
v
Gain adjustment procedure for speed control loop
1. Set the load inertia ratio.
2. Set integral time constant of the speed loop with a relatively great value.
3. Under no vibration and unusual sound increase the gain of the speed loop, if vibration occurs
then decrease the gain a bit.
4. Under no vibration and unusual sound, decrease the integral time constant of speed loop, if
vibration occurs then increase the time constant a bit.
5. Because the mechanical system may have resonating factors and is unable to adjust for a bigger
gain, then the desired response cannot obtain. Now, use low pass or notch filter for torque to
suppress the resonance, and then carry on above steps again enhancing responsiveness. First
use the low pass filter of torque, if the effect is not good then use notch filter again. Please
refer to 4.7 sections about resonance suppression.
Gain adjustment procedure for position control loop
1. Set the load inertia ratio.
2. Set integral time constant of the speed loop with a relatively great value.
3. Under no vibration and unusual sound increase the gain of the speed loop, if vibration occurs
then decrease the gain a bit.
4. Under no vibration and unusual sound, decrease the integral time constant of speed loop, if