Operation Manual of INVT CHS100 AC Servo Drive 7 Gain adjustment
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6) Frequency division of the feedback pulse output
If the feedback pulse needs to be outputted, the frequency division coefficient of pulse
output (Pc.55, Pc.56) can be used to change the frequency of the output pulse.
7.1.2 Adjustment of the gain of the speed loop
The speed control block diagram of the CHS100 series servo drive is shown in the
figure below. The gain parameters that can be adjusted in the speed mode are marked
on the block diagram.
Fig. 7-2 Block diagram of speed control
The general procedures for parameter adjustment in the speed mode are:
1) Initial setting of the parameters
The defaults of the parameters can be recovered by the default parameter recovering
operation (see chapter 5.2.4 for details).
2) Adjustment of the gain of the speed loop
When the servo motor is running with default parameters, if the system oscillation
occurs with buzz, the speed gain (Pb.04 or Pb.07) should be adjusted smaller. If the
system rigidity is relatively small or the speed fluctuates largely, the speed gain should
be adjusted larger.
3) Adjustment of the speed integration time constant
When the gain of the speed loop is increased, the speed integration time constant
(Pb.05 or Pb.08) should be increased at the same time. Similarly, when the gain of the
speed loop is decreased, the speed integration time constant should be decreased at
Speed
feed-forward
Speed
feed-forward
filter
Encoder
frequency
division
Low-pass
filter
Trap filter
Speed
controller
Speed test
filter
Torque
controller
Encoder
Motor
Speed
command
Speed command
processing