Shihlin electric SDP Series, Manual

Page: 187 / 555

174
Example 2: take deviation pulse as switching source
①
.
Relevant parameter setting
Name
Parameter
abbreviation
Parameter
code
Default
value
Unit
Servo motor load inertia ratio GD1 PB06 10
0.1
times
Position loop gain PG1 PB07 100 rad/s
Speed loop gain VG1 PB08 500 rad/s
Speed integral gain VIC PB09 100 ms
Gain switching option CDP PB11 0003 N/A
Gain switching condition value CDS PB12 100 pulse
Gain switching time constant CDT PB13 10 ms
Servo motor load inertia ratio
2
GD2 PB14 20 0.1times
Position loop gain change
ratio
PG2 PB15 80 %
Speed loop gain change ratio VG2 PB16 120 %
Speed integral gain change
ratio
VIC2 PB17 150 %
②
.
The gain switching diagram.
Gain change
Gain value after switching
Gain value
before switching
pulse errors
Pulse command
Pulse feedback
Name CDP OFF CDP ON CDP OFF
Servo motor load inertia ratio 10 → 20 → 10
Position loop gain 100 → 80 → 100
Speed loop gain 500 → 600 → 500
Speed integral gain 100 → 150 → 100