OE Max Controls CSDP Plus, User Manual

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To set up the gains related to speed control, please follow the
commands below.
1. Set the speed loop proportional gain at SEt-02. The setting range is 0 to
1500 Nms, and the default value is 80. Please raise the value as high as
possible as long as it doesn’t cause vibration or noise.
2. Set speed loop integral gain at SEt-03. The setting range is 0 to 20000
Nms
2
and the default value is 200. Raise the value gradually while
watching the responses in the excessive period such as overshoot,
completion time, vibration or noise. If it is set too low, the response can
drop. But if it is too high, vibration or noise can be generated.
3. Please set speed command filter at SEt-40. The setting range is 0 to 4000
rad/s and the default value is 1000. Please lower the value in an
environment where the position control-related gain of the higher control
device is set too high or there is too much noise.
4. It is desirable to set the value of torque command filter (SEt-06) as high as
possible as long as no vibration is generated from the load.
The values of the speed loop proportional gain and the speed loop
integral gain are supposed to be scaled according to the inertia ratio.
Therefore, if the load inertia ratios of a 100 W motor and a 1 KW motor
are the same to be about 10 times, appropriate values of the speed
loop integral gains are the same as well.
Position Control Gain
Position control gain includes feedforward gain, position feedforward
filter, and position loop proportional gain.
The diagram below shows the application process of position control-
related gains.
Position command filter can restrain the high frequency element in the
position command to soften the position command itself. If its value is
0, position command filter will not be used.
Raising the value of position loop proportional gain improves the
response of the position control.