SD710 Series Servo Drive Technical Manual Chapter 6 Adjustment
9
Precautions
●
When adjusting the Servo Drive gain, if one parameter is changed, the other parameters
need to be readjusted as well. Please do not make a large change to a parameter alone.
Please use the amplitude of about 5% as a general standard to fine-tune each servo gain
parameter.
●
For the procedure to change the servo parameters, observe the following.
When response needs to be improved
.
①
Reduction of the torque command filter time parameter (Pn104).
②
Increasing the velocity loop gain (Pn101).
(iii) Decrease the velocity loop integration time parameter (Pn102).
④
Increase the position loop gain (Pn103).
When reducing the response, prevent vibration and overshoot when
.
①
Increasing the torque command filter time parameter (Pn104).
(ii) Reduce the speed loop gain (Pn101).
(iii) Increase the velocity loop integration time parameter (Pn102).
④
Reduce the position loop gain (Pn103).
(1) Position ring proportional gain adjustment
The response of the servo system is determined by the position loop gain. When the position loop gain is set to a higher
value, the response speed will increase and the time required for positioning will be reduced. In general, the position loop
gain cannot be increased beyond the inherent vibration number of the mechanical system. Therefore, to set the position
loop gain to a larger value, you need to increase the machine rigidity and increase the inherent vibration number of the
machine.
Fn No.
Parameter
Range
Default
Unit
Pn103
Position loop proportional gain
1.0 to 2000.0
40.0
1/s
Precautions
●
The position loop proportional gain (Pn103) must not be set too large during motor operation,
otherwise an overcurrent alarm may occur when the machinery is running at high speed. In this
case, fault detection of excessive position deviation will become more difficult, and as a criterion
for the setting value, refer to the following conditions.
c
p
F
K
Position deviation fault is too large threshold Pn264=
x (1.2~2.0)
where.
c
F
: Maximum frequency of position command pulses (pulse/s).
p
K
: Position loop gain (1/s).
1.2 to 2.0: Safety factor (protection against frequent excessive position deviations).
●
When using the position command filter, the transition bias will increase depending on the
filter time parameter. The setting value should take into account the stacking of the filter signal.
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