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DYN2MS-02F-0116A17
5.2 Servo Drive Gain Tuning
The DYN2 servo drive features simple 3 parameter Gain tuning to achieve optimized smooth performance.
The user should adjust the servo gain parameters Main Gain, Speed Gain and Integration Gain until they
achieve target response qualities. These parameters are all adjustable using the DMMDRV program.
The built in Adaptive Tuning algorithm optimize servo region of stability relative to load inertia. As long as
the 3 gain parameters are close to ideal settings, the servo will always achieve best response.
The overall method of Gain tuning follows as load mass or load inertia increase, the Main Gain and Speed
Gain parameters should be increased. If these are set too high, the servo may be over-tuned and start
vibrating or become noisy. The parameters should be increased/decreased until the motor smoothly fol
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lows command without vibration, noise or oscillations. The user can then fine tune the parameters to make
the motor “harder“ (faster response, more rigid motion) or “softer“ (slower response, smoother motion).
The servo motor should be coupled to the final machine before tuning. Make sure during tuning, the motor
is running the load and speed of the final machine or design. The user should use a trial and error method
to achieve the desired servo response.
In Speed and Torque servo mode, the Torque Filter Constant parameter can be adjusted to further smooth
the torque delivery and improve motor speed accuracy.
♦ Gain Tuning Procedure Flow
Tuning Begin
Run Servo Motor
Position Overshooting or
Oscillation.
Motor Vibration/Noise
Increase Main Gain,
increase Speed Gain until
overshooting suppressed
Decrease Main Gain,
decrease Speed Gain
Decrease Integration Gain
If still unstable
Unstable/Vibration
Speed Servo Mode
Decrease
Torque Filter Constant
Decrease Integration Gain
If still unstable
adaptive
adaptive
TUNING II
