Summa Series Servodrive Product Manual
Tuning
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
9-9
Response Curve
Description
Adjustment method
Speed loop bandwidth is low
Properly increase the Speed
Loop Gain or decrease the
Speed Loop Integral Time.
It is recommended to increase the Speed Loop Gain and decrease the Speed Loop Integral Time to obtain
a larger speed loop bandwidth.
Position loop (Position Control Mode)
−
Relevant parameters in speed loop (Kv, Ti, Tf, and JL)
−
Position Loop Gain (Kp)
The position loop is controlled using a Proportional Controller that only contains the Position
Loop Gain. This parameter determines the position loop bandwidth. If you increase the Position
Loop Gain, the position loop bandwidth will be increased and the anti-load disturbance
performance will be better. However, overshooting and vibration in the position reference may be
occurred.
It is recommended to set the Position Loop Gain to a quarter of the Speed Loop Gain, and make
appropriate adjustments based on this.
Applicated Case
Applied for that more than 50 times the load moment of inertia.
Applied for any rotation speed.
Relevant Parameters
Parameter
Setting
Meaning
When Enabled Classification
Pn100.0
5 [Default]
Set the
Tuning Mode
as
Manual
tuning
.
After restart
Function
Pn102/Pn107
－
Speed Loop Gain
Immediately
Adjustment
Pn103/Pn108
－
Speed Loop Integral Time
Immediately
Adjustment
Pn104/Pn109
－
Position Loop Gain
Immediately
Adjustment
Pn105/Pn110
－
Torque Command Filter Time
Immediately
Adjustment
Pn106
－
Load Inertia Percentage
Immediately
Adjustment
NOTE
: the settings of Pn107 to Pn110 are taken effect after the gain is switched.
