Veichi SD710 Series, User Manual

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SD710 Series Servo User Manual Chapter 9 Parameter description
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9.2 Gain parameters(Pn1xx)
Pn100 Rotational inertia ratio (J) ○
Communication address:
0x0100
Factory value: 100
Setting range: 0
～
20000
Unit: 1% Control mode
.
□
P
□
S
□
T
Parameter
Description
Set the total inertia to motor rotor inertia ratio.
Pn100 =
Load i Motor rotor inertia
𝑀𝑜𝑡𝑜𝑟 𝑟𝑜𝑡𝑜𝑟 𝑖𝑛𝑒𝑟𝑡𝑖𝑎
× 100%
Pn101 Speed loop proportional gain (ASR_KP) ○
Communication address:
0x0101
Factory value: 40.0 Setting range: 1.0 to 2000.0 Unit: Hz Control mode.
□
P
□
S
□
T
Parameter
Description
Sets the gain of the speed regulator (ASR_KP), which determines the responsiveness of the speed
control loop.
The larger the ASR_KP value setting, the higher the speed loop response frequency and the better the
followability for speed commands. By increasing the setting value of the speed loop gain, the response
characteristics of the servo system can be improved. However, when the ASR_KP setting is too large,
it is easy to cause vibration.
Pn102 Speed loop integration time constant (ASR_Ki)
○
Communication address:
0x0102
Factory value: 20.00 Setting range: 0.15 to 512.00 Unit: ms
Control mode
.
□
P
□
S
□
T
Parameter
Description
Sets the integration time of the speed regulator (ASR_Ki), which determines the responsiveness of the
speed control loop.
The smaller the ASR_Ki value setting, the higher the speed loop response frequency and the better the
follow-through for speed commands. By reducing the setting value of the velocity loop integration time,
the response characteristics of the servo system can be improved. However, when the ASR_Ki setting
is too small, vibration is easily caused.
Pn103 Position loop proportional gain (APR_KP) ○ Communication to: 0x0103
Factory value: 40.0 Setting range: 1.0 to 2000.0 Unit: 1/s
Control mode
.
□
P
□
S
□
T
Parameter
Description
Sets the gain of the position regulator (APR_KP), which determines the responsiveness of the position
control system.
The larger the APR_KP value, the higher the position response frequency, the better the followability for
position commands, the smaller the amount of position deviation, and the shorter the positioning
adjustment time. However, when the APR_KP value is set too large, it is easy to cause vibration.