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8-8 Tuning by Gain Setting
CSD7 Servo Drive (EtherCAT)
Gain Setting Block Diagram
This chapter explains the block diagram of the Position loop, Velocity
loop, and Torque loop related to the gain setting.
The following diagram will help you understand the gain
configuration related to position, velocity and torque.
Starting point for position
mode gain setting
Position mode (CSP) using the position command of host controller includes all gains related to
velocity and torque from starting point to the servo motor as shown in the figure below.
Servo drive first generates the velocity command using the position command of the host
controller, velocity command generates the torque command and finally it transfers the torque
command to the servo motor. Therefore, when you use the position mode, the gain can be set
properly.
If gain related to position control is set properly but the gain related to torque or velocity is
not set properly, the optimum tuning cannot be achieved.
Starting point for speed
mode gain setting
Velocity mode using velocity command of the host controller includes all gains related to
torque from starting point to the servo motor as shown in the figure below.
Servo drive first generates torque command using velocity command of the host controller
and finally, it transfers the torque command to the servo motor. Therefore, when you use the
velocity mode, the gains related to velocity and torque can be set properly.
If gain related to velocity control is set properly but gain related to torque is not set properly,
the optimum tuning cannot be achieved.
Starting point for torque
mode gain setting
Torque mode using torque command of host controller includes all gains related to torque
from starting point to servo motor as shown in the figure below.
You can adjust gains related to torque in torque mode.
If gains related to position are set in the condition
that the velocity response is not sufficiently
guaranteed through gain settings related to velocity
control, system becomes unstable. Therefore, firstly
you should sufficiently secure the response of
velocity control loop to make the response of whole
position control system good.
Note