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5-5-3 Improving Resonance<br />
The Servo drive provides the function of Gain Switching and Position Loop Feed-Forward Gain<br />
to improve system response.<br />
Note: Both of these features must be used correctly to improve system response, otherwise<br />
the response will be<strong>com</strong>e worse. Refer to the description below:<br />
Gain Switch<br />
Following Gain Switching features are provided:-<br />
a) Speed Loop Gain PI/P Switching<br />
b) 2-stage Gain Switching.<br />
Purposes list:<br />
(1) To restrict overshoot during acceleration/deceleration in speed control.<br />
(2) Reducing the in position oscillations and providing shorter settling time in position control.<br />
(3) Decrease the noise caused when using Servo Lock.<br />
For further details refer to section 5-3-11.<br />
Position Loop Feed-Forward Gain<br />
Position Loop Feed-Forward Gain can be used to reduce the error result from position control and improve<br />
the response speed.<br />
Position loop Feed forward gain and position loop gain should be matched with. If adjusting to higher position<br />
loop gain, the feed fordward gain can be ignored. Oppositly, if the loop gain value is setting for a relatively low<br />
level, adjust position loop feed forward gain will improve system response time obviously.<br />
The adjustment steps are as follows:<br />
Step 1: Refer to the procedures in sections 5-5-1~5-5-2 to adjust Speed and Position Gain.<br />
Step 2: Increase Pn312(Position Feed-Forward Gain) slowly, and observe the INP ( Output Signal of In<br />
Position) at the same time and INP output should be activated faster.<br />
Note: The Position Loop Feed-Forward Gain can not be set too high, otherwise it will cause speed<br />
overshooting and INP (In Position output signal) will be switching On/Off repeatedly.<br />
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