Shihlin electric SDP Series, Manual

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6.3.5.
Gain adjustment of the speed loop
In the Speed control loop, you can adjust many different gain parameters. You can adjust the
gain automatically or manually which is set by PA02. If set as auto adjustment, the load inertia
ratio will be estimated continuously and the control gain value will be set automatically. If set
as manual adjustment, you should manually set proper load inertia ratio and control gain value,
and all auto or auxiliary functions will be disabled. The structure diagram of the speed loop is
shown in the following figure:
In the speed control loop, the gain adjustment related parameters are summarized as follows:
Name
Parameter
abbreviation
Parameter
code
Setting
range
Unit
Default
value
Control
mode
Auto-tuning
mode setting
ATUM PA02 0000h~0004h N/A 0002h
Pt, Pr, S,
T
Auto-tuning
response level
setting
ATUL PA03 1~32 N/A 10
Pt, Pr, S,
T
Speed loop
gain
VG1 PB08 40~9000 rad/s 183 Pt, Pr, S
Speed integral
gain
VIC PB09 1~1000 ms 34 Pt, Pr, S
Speed feed-
forward gain
VFG PB10 0~200 % 0 S
Auto mode:
The servo drive will adjust the optimal controller gain during acceleration and deceleration.
And its detail description can refer to section 5.3.2.
Manual mode: