RS Automation OEMax CSD7, User Manual, Page: 232 / 332

8-28 Tuning by Gain Setting
CSD7 Servo Drive (EtherCAT)
Velocity Loop I-Gain
0x2103 1st Velocity Loop I Gain CSP
Setting Range Size (Data Type) Unit Access PDO Map Attribute Init Value Ft-no
0~60000 2 byte(UINT) - RW - Always 125 Ft-1.03
Ft-1.03 1st Velocity Loop I Gain
Description
 It is to remove velocity error in steady state as responding to
very small error.
 The higher the value is set, the better the velocity response
and the faster the completion time.

Set this value to low level in the environment that load inertia
is big or vibration can easily occur.
Velocity Command Filter
0x2202 LPF Bandwidth of Velocity Command CSP
Setting Range Size (Data Type) Unit Access PDO Map Attribute Init Value Ft-no
0~10000 2 byte(UINT) Hz RW - Always 1000 Ft-2.02
Ft-1.03 LPF Bandwidth of Velocity Command
Description
 It makes velocity command smooth as removing high frequency
factor that is included in velocity command.
 If this value is ’0’, velocity command filter is not used.
Gain Setting Procedure Related to Velocity Control
•
Increase the velocity loop P-gain 0x2102 (Ft-1.02) gradually as
high as possible within the range that vibration and noise does
not occur.
•
Set 0x2102 (Ft-1.02) as the value of 80 to 90 [%] of the
maximum setting value.
•
Increase the velocity loop I-gain 0x2103 (Ft-1.03) little by little as
checking transient response such as overshoot, completion time,
whether vibration or noise occurs. If you set it too low, the
response become slow and if you set it too high, vibration or
noise can occur. Maximum setting value of 0x2103 (Ft-1.03) is as
the following formula.
[Ft- 1.03] ≤ 300 × [Ft -1.02]²× Inertia of applied motor