Xinje DF3E Series, Руководство пользователя

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3. Reducing Integral Time Parameter of Speed Loop (P1-01)
4. Increasing the gain of position loop (P1-02)
5. Improving Model Loop Gain (P2-49)
Reduce response, prevent vibration and overshoot
1. Reducing the Speed Loop Gain (P1-00)
2. Increasing Integral Time Constant of Speed Loop (P1-01)
3. Reducing the gain of position loop (P1-02)
4. Increase the filter time constant of the torque instruction (P2-35)
5. Reducing Model Loop Gain (P2-49)
5.5.3 Gain parameters for adjustment
The gain parameters that need to be adjusted:
P1-00 Speed Loop Gain
P1-01 Integral Time Constant of Speed Loop
P1-02 position loop gain
P2-35 Torque Instruction Filtering Time Constant
P2-49 Model Loop Gain
◼
Speed loop gain
Because the response of the speed loop is low, it will become the delay factor of the outer position loop, so
overshoot or vibration of the speed command will occur. Therefore, in the range of no vibration of mechanical
system, the larger the setting value, the more stable the servo system and the better the responsiveness.
Parameter Name
Default
setting
Unit Range Modification Effective
P1-00 Speed loop gain 65 0.1Hz 10
～
20000 Anytime At once
◼
Integral time constant of speed loop
In order to respond to small inputs, the speed loop contains integral elements. Because this integral factor is a
delay factor for servo system, when the time constant is too large, it will overshoot or prolong the positioning time,
which will make the response worse.
The relationship between the gain of the speed loop and the integral time constant of the speed loop is
approximately as follows:
P1-00 × P1-01 = 636620
Parameter Name
Default
setting
Unit Range Modification Effective
P1-01
integral time constant
of speed loop
9794 0.01ms 15
～
51200 Anytime At once
◼
Position loop gain
When the model loop is invalid (P2-47.0=0), the responsiveness of the position loop of the servo unit is
determined by the gain of the position loop. The higher the position loop gain is, the higher the responsiveness is
and the shorter the positioning time is. Generally speaking, the gain of position loop cannot be increased beyond
the natural vibration number of mechanical system. Therefore, in order to set the position loop gain to a larger
value, it is necessary to improve the rigidity of the machine and increase the number of inherent vibration of the
machine.
Parameter Name
Default
setting
Unit Range Modify Effective
P1-02 Position loop gain 65 0.1/s 10
～
20000 Anytime At once