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6.4 Manual gain adjustment
1) Purpose of the gain adjustment
For commands from the upper controller, the servo drive makes the motor
to work as instructed as possible without delay. In order to make the motor
work as the commanded with the optimal mechanical performance, the
servo gain adjustment is required.
To adjust the servo gain manually, before adjust each servo gain one by
one, please understand servo components and features. In most cases, if
one parameter is changed significantly, the other parameters shall be
adjusted again.
The servo unit is composed of three feedback loops (position loop, speed
loop, current loop), the more inner the loop is, the more need to improve its
responsiveness. If the principle is not followed, it will cause poor
responsiveness or vibration.
2) Gain adjustment method
①
Increase the current loop gain as much as possible, as long as there is no
motor squeal.
②
As long as the machine does not vibrate, increase the speed loop gain
(PA5) as much as possible, and decrease the speed integral time constant (PA6) at
the same time.
③
In the position control, increase the position proportional gain (PA9) as
long as the machine does not vibrate.
6.5 Resonance suppression
Notch filter: There is a certain resonance frequency in the mechanical
system. If the servo gain is set too high, resonance may occur near the
mechanical resonance frequency. In this case, use a notch filter. The notch
