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107
EGEAR PID Adjustment Block
Pr.174
Pr.177
Pr.237
Pr.238
Pr.237
Pr.238
Pr.184
Pr.242
Pr.243
Pr.246
Pr.247
Pr.181
HIGH PID
LOW PID
High/Low
PID
Position-Loop
P-Gain
ACC Torque
Compensation
Speed-Loop
Base PI-gain
Speed-Loop
High/Low PI-gain
PCMD MODE PID GAIN to Pr.184 as a dividing into HIGH / LOW PID GAIN
React to the general terms, HIGH / LOW PID GAIN defined, can be based on the following instructions:
HIGH PID: position error is to adjust the smaller the better, but nor can MOTOR vibration, the machine resonance
LOW PID: MOTOR does not produce vibrations in the machine does not produce resonance, or sound-based
PCMD MODE belong position mode, Pr.174/Pr.177 must be > 0 (we advise you to increase the amount of 0.25)
When adjusting the Speed Loop P & I gain, Pgain must> I gain (if Pgain must <I gain, the control may fail)
Fixed Speed Loop P gain: can correct position errors of the "amplitude
”
Fixed Speed Loop I gain: can correct position errors of the "cycle"
If Speed Loop P&I gain=200：50；
Both parameters will enhance the value of two times the
:
Speed Loop P&I gain=400：100--------(
Control will increase rigidity
)
When PCMD SERVO
Follow main speed for motion control, the moment will cause speed backward, so that the
instantaneous error
Larger point Pr.181 can be pre-compensated velocity error caused by the backward
(Pr.181 Pr.177 size and the size of closely related)
