RS Automation OEMax CSD7, Руководство пользователя, Страница: 237 / 332

Tuning by Gain Setting
8-33
CSD7 Servo Drive (EtherCAT)
At this moment, if you want to reduce position completion time,
find out appropriate value as increasing the value of 0x2107 (Ft-1.07)
little by little as checking transient response.
In addition, it is good method to suppress high frequency factor of
position FF using velocity command filter 0x2202 (Ft-2.02) or making
position command smooth using position command filter 0x2301
(Ft-3.01).
P/PI Mode Setting Function
When you control velocity or position, if you set velocity loop I gain
0x2103 (Ft-1.03), it responds to the delicate command so that you
can accurately control and make the error ‘0’ in the steady state.
However, if you increase velocity loop I gain 0x2103 (Ft-1.03) to get
fast response, overshoot of actual velocity occurs in transient state,
as a result, position completion time can be increased.
Therefore, you can reduce position completion time as suppressing
overshoot by changing I gain to ‘0’ for a little while if necessary.
In this case, velocity control loop is changed from ‘PI controller’ to
‘P controller’.
There are two methods to change velocity control loop from ‘PI
controller’ to ‘P controller’.
•
Manual Setting : To control by sequence input P control
conversion signal </P-CON>.
•
Auto Setting : To use P/PI mode switching function by
parameter setting.