Shihlin electric SDP Series, Manual

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When you set PA02 to 0000 or 0001, its mainly effective gain value are speed loop gain (PB08),
speed integral gain (PB09), and speed feed-forward gain (PB10). When PA02 is set to 0001,
the interference compensator function will be automatically enabled, which can reduce torque
ripple, overshoot and speed change rate. It is applicable in systems with frequently load
changes, but it cannot be used in a system with an over 10 times load inertia ratio. The gain
value also need to be adjusted according to the situation during operation. The diagram is as
below:
Parameters used in manual mode:
Speed loop gain
Increasing the speed loop gain value will improve the bandwidth. but if the setting is too large,
it will cause the system vibration. It is recommended to estimate a base value in the automatic
mode, and then manually increase the value slowly until the system vibrates if necessary. Set
back the value before system vibrates.
Speed integral gain
Decreasing the value of this parameter will increase the low-frequency stiffness of the speed
loop and reduce the steady-state error. But setting too low may worsen the phase lag, and
may cause system instability.
Speed feed-forward gain
The speed feed-forward gain can reduce the phase lag error and increase the ability of
traceability. When the setting value is close to 100, the dynamic tracking error will be very
small, and the pre-compensation will be the most completed. If the setting is too low, the
improvement effect of the system is small. If the setting value is too large, the system will
easily vibrate.