Create successful ePaper yourself
Turn your PDF publications into a flip-book with our unique Google optimized e-Paper software.
5-5 Gain Adjustment<br />
The Servo controller provides 3 control loops as diagram shown below:<br />
Control methods are: Current Control, Speed Control and Position Control.<br />
Host<br />
Controllor<br />
Position<br />
Controllor<br />
Speed<br />
Controllor<br />
Current<br />
Controllor<br />
Power<br />
Circuit<br />
SM<br />
PG<br />
Diagram above shows the three control loops.<br />
Current ( Inner loop), Speed ( middle loop) and position (outer loop).<br />
Theoretically, the bandwidth of inner control loop must be higher than the bandwidth of the outer control loop,<br />
otherwise, the whole control system will be<strong>com</strong>e unstable, and cause vibration or abnormal response.<br />
The relationship between the band width for these three control loops is as follows:<br />
Current Loop (Inner) > Speed Loop (Middle)>Position Loop (outer).<br />
The default current control bandwidth has already been set for optimum response, So Only speed and<br />
position control loop gains may be adjusted.<br />
Table below shows the Gain adjustment parameters for the three control loops.<br />
Parameter Name Default Unit Setting Range<br />
Control<br />
Mode<br />
Sn211 Speed Loop Gain 1 40 Hz 10~450 Pe/Pi/S<br />
Sn212<br />
Speed Loop Integration Time<br />
Constant 1<br />
100<br />
x0.2<br />
msec<br />
1~500 Pe/Pi/S<br />
Sn213 Speed Loop Gain 2 40 Hz 10~450 Pe/Pi/S<br />
Sn214<br />
Speed Loop Integration Time<br />
Constant 2<br />
100<br />
x0.2<br />
msec<br />
1~500 Pe/Pi/S<br />
Pn310 Position Loop Gain 1 40 1/s 1~450 Pe/Pi<br />
Pn311 Position Loop Gain 2 40 1/s 1~450 Pe/Pi<br />
Pn312<br />
Position Loop Feed-Forward<br />
Gain<br />
0 % 0~100 Pe/Pi<br />
Cn025 Load Inertia Ratio 40 x0.1 0~1000 Pe/Pi/S<br />
5-54