41
Since the drive has been adjusted to the current control loop in the best state, the user only needs to adjust the control parameters of speed loop
and position loop.
5.6.1 Gain adjustment procedure
The choice of position and speed bandwidth must be decided by the mechanical rigidity and applications, connected by a belt conveying
mechanical rigidity and lower and can be set to a low bandwidth; driven by the speed reducer of the ball screw rod of the mechanical stiffness of
the medium can be set to medium bandwidth; to drive directly to the ball screw rod or linear motor stiffness is higher, can be set to high
bandwidth. If the properties of machine is unknown, can gradually increase the gain to improve the bandwidth and gain can be lowered until
resonance.
In each gain of servo drive, if one parameter is changed, other parameters are also should be adjusted. Please don't make a big change to one
parameter. Regarding the change steps of servo parameters, please follow the following principles:
Improve response
Reduce response, suppress vibration and
overshoot
1.Increase the proportion of speed regulator
P5-04
1.lower position regulator proportional gain
P5-00
2.Reduce the speed regulator integral time
constant P5-05
2.Increasing speed regulator integral time
constant P5-05
3.Improve
the
position
regulator
proportional gain P5-00
3.Reduce the speed regulator P5-04
5.6.2 Speed gain adjustment procedure
1)
Setting load inertia ratio of P5-08.
2)
Setting speed regulator integral time constant P5-05 for larger values.
3)
In the range of no vibration and strange noise to adjust P5-04(Speed controller proportional gain) higher, if there is a slight, you should
adjust the P5-04 smaller.
4)
In the range of no vibration to adjust P5-05(Speed controller integral time constant) smaller, if there is a slight, you should adjust the
P5-05 higher.
5)
If the mechanical system is unable to adjust the gain due to resonance and other reasons, it cannot get the desired response, the torque low
pass filter or notch filter to adjust the suppression of resonance, and then in order to improve the response, need to do the above steps
again. First, try to use low pass filter, if the effect is not good, then try to use notch filter.
5.6.3 Position control gain adjustment procedure
1)
Setting load inertia ratio of P5-08.
2)
Setting speed regulator integral time constant P5-05 for larger values.
3)
In the range of no vibration and strange noise to adjust P5-04(Speed controller proportional gain) higher, if there is a slight, you should
adjust the P5-04 smaller..
4)
In the range of no vibration to adjust P5-05(Speed controller integral time constant) smaller, if there is a slight, you should adjust the
P5-05 higher.
5)
Increase the position regulator proportional gain P5-00, if there is a slight, you should adjust it smaller.
6)
If the mechanical system is unable to adjust the gain due to resonance and other reasons, it cannot get the desired response, the torque low
pass filter or notch filter to adjust the suppression of resonance, and then in order to improve the response, need to do the above steps
again. First, try to use low pass filter, if the effect is not good, then try to use notch filter.
7)
The position feed forward gain P5-02 can be adjusted properly if the positioning time is shorter and the position error is smaller.
