Wecon VD2 SA Series Servo Drives User Manual (Full V1.0)
90
WECON technology Co., Ltd
The gain adjustment process description is shown in Table 7-1.
Gain adjustment process
Function
Detailed
chapter
1
Online inertia recognition
Use the host computer debugging platform
software matched with the driver to
automatically identify the load inertia ratio. With
its own inertia identification function, the driver
automatically calculates the load inertia ratio.
7.2
2
Automatic gain adjustment
On the premise of setting the inertia ratio
correctly, the driver automatically adjusts a set of
matching gain parameters.
7.3.1
3
Manual gain
adjustment
Basic gain
On the basis of automatic gain adjustment, if the
expected effect is not achieved, manually
fine-tune the gain to optimize the effect.
7.3.2
Feedforward
gain
The feedforward function is enabled to improve
the followability.
7.3.3
4
Vibration
suppression
Mechanical
resonance
The notch filter function is enabled to suppress
mechanical resonance.
7.4.1
Table 7-1 Description of gain adjustment process
7.2 Inertia recognition
Load inertia ratio [P03-01] refers to:
Load inertia ratio =
Total moment of inertia of mechanical load
Motor's moment of inertia
The load inertia ratio is an important parameter of the servo system, and setting of the load inertia
ratio correctly helps to quickly complete the debugging. The load inertia ratio can be set manually,
and online load inertia recognition can be performed through the host computer debugging
software.
✎
Before performing online load inertia recognition, the following conditions should be
met:
The maximum speed of the motor should be greater than 300rpm;
The actual load inertia ratio is between 0.00 and 100.00;
The load torque is relatively stable, and the load cannot change drastically during the
measurement process;
The backlash of the load transmission mechanism is within a certain range;
The motor's runable stroke should meet 2 requirements:
✎
There is a movable stroke of more than 1 turn in both forward and reverse directions
between the mechanical limit switches.
✎
Before performing online inertia recognition, please make sure that the limit switch has
been installed on the machine, and that the motor has a movable stroke of more than 1
turn each in the forward and reverse directions to prevent overtravel during the inertia
recognition process and cause accidents.
✎
Meet the requirement of inertia recognition turns[P03-05]
✎
Make sure that the motor's runable stroke at the stop position is greater than the set
value of the number of inertia recognition circles [P03-05], otherwise the maximum speed
