Lenze SimpleServo 94, Руководство пользователя

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IMS94S-mv1
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Velocity I-gain (Integral)
The output of the I-term portion of the integral gain compensator is proportional
to accumulative error over cycle time, with I-term controlling how fast the error
accumulates. Integral gain also increases overall loop gain at the lower frequencies,
minimizing total error. Thus, its greatest effect is on a system running at low speed, or
in a steady state without rapid or frequent changes in velocity.
Note
Position loop filter settings are only active if the drive is operating in
Position mode. It has no effect in velocity or Torque modes.
Position P-gain (Proportional)
Proportional gain adjusts the system’s overall response to position error. Position
error is the difference between the commanded position of the motor shaft and the
actual shaft position. By adjusting the proportional gain, the bandwidth of the drive is
more closely matched to the bandwidth of the control signal, ensuring more precise
response of the servo loop to the input signal.
Position I-gain (Integral)
The output of the I-term portion of the integral gain compensator is proportional
to accumulative error over cycle time, with I-term controlling how fast the error
accumulates. Integral gain also increases overall loop gain at the lower frequencies,
minimizing total error. Thus, its greatest effect is on a system running at low speed, or
in a steady state without rapid or frequent changes in position.
Position D-gain (Differential)
The output of the D-term portion of the filter proportional to difference between current
position error and position error measured in previous servo cycle. D-term decreases
bandwidth and increases overall system stability. It responsible for removing
oscillation caused by load inertia and acts similar to shock-absorber in a car.
Second encoder I-gain (Integral)
This gain sets second encoder correcting integral term when derive is configured for
dual loop operation. This gain has only effect if in position mode and when second
encoder is used.
IL - integral gain limit in % of torque
The output of the I-term portion of the integral gain compensator could be limited
to some level set by IL limiter. In other words, the influence of I-term on motor shaft
torque could be controlled by IL limiter. This helps to decrease overshoot caused by I
-gain especially when position error is integrated over a long time period.
Velocity regulation window
Sets total loop gain multiplier, which is 2N, where N is velocity regulation window. If
during motor tuning velocity gains become too small or too large use this parameter to
adjust loop sensitivity. If gains too small decrease total loop gain value by deceasing
number. If gains are at the maximum and you need increase them even more use
bigger numbers for velocity regulation window parameter.
Tune gains
This command button opens window with all gains sliders for more convenient set-up.