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6 Adjustment
6.1 Summary
The servo drive needs to drive the motor as fast as possible, and to track
the commands from the upper machine or internal settings. To achieve it,
the servo gain shall be adjusted reasonably.
The servo gain is set by a combination of multiple parameters (position loop,
speed loop gain, current loop, load rotation ratio of inertias, etc.), and they
affect each other. Therefore, the servo gain setting must take the balance of
each parameter value into the consideration.
The general procedure for adjusting the servo gain is as follows.
Begin
Inertia
identification
Automatic
gain
adjustment
Meet the
requirement
Manual
gain
adjustment
End
No
YES
Figure 6-1 Gain adjustment flowchart
6.2 Inertia identification
Load inertia ratio = Total rotational inertia of mechanical load / Motor
rotational inertia
The load inertia ratio is an important parameter of the servo system, and
the setting the proper load inertia ratio helps to complete the
commissioning quickly.
Before inertia identification, confirms the items below.
①
Between the mechanical limit switch, there are forward and reverse 10
