Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd.
Chapter 8
Adjustment
This chapter mainly introduces the adjusting methods and precautions of various functions related to the servo
motor adjustment. Please make adjustments according to the special conditions.
Basic Adjustment
8.1
About the Adjustment
8.1.1
Adjusting operations are conducted to optimize the responsiveness of servo drives once they are matched with
corresponding servo motors. The responsiveness of servo drives depends on the parameters of regulators inside
them.
Parameters of regulators include current loop regulator parameters, velocity loop regulator parameters and
position loop regulator parameters, which are interacting with each other. Therefore, the balance among all
parameters must be considered and maintained during the setting of servo gains.
Normally, as for equipments with high mechanical rigidity, the responsiveness can be improved by improving
the rigidity of the servo control. However, as for equipments with low mechanical rigidity, when the rigidity of the
servo control is improved, vibration may be generated accordingly and responsiveness fails to be improved as a
result. In such cases, the notch filter of the servo drive can be used to avoid mechanical resonance points to obtain
higher control rigidity and thus achieve better responsiveness.
Safety Instructions
8.1.2
(1) Soft limit setting
It is used for over-travel protection. For details, please refer to Chapter 8.7.8 Command Limit.
(2) Torque limit setting
The torque limit function is used to limit the output torque to make sure that the calculated torque necessary
for the machine running will not exceed this set value, so as to reduce impact during mechanical interference or
collision. If the set value for torque limit is lower than the torque required for running, overshooting or vibration
may occur. For details, please refer to Chapter 8.7.8.3 Command Limit.
(3) Position and velocity following error limit setting
Position and velocity following error alarms provide an effective protection when position and velocity are
controlled through servo drives. When the motor works inconsistently with commands, proper position and velocity
following errors can be set for the detection of abnormalities to stop the motor.
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Содержание EtherCAT CoolDrive RC Series
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