Sigma-II Series SGM*H/SGDH USER'S MANUAL - Esco Drives ...

9 Adjustments9.3.1 Explanation of Servo Gain9.3 Manual Tuning9.3.1 Explanation of Servo GainThe block diagram for position control is as follows:Position control loopSpeed control loopSpeedSpeed patternTimeMovereference+-ErrorcounterPosition loopPositionloopgain KpSpeedreference+Speed Kv- controlsectionTiSpeed loopTf+-CurrentcontrolsectionElectricpowerconvertingCurrent loopServomotorMPGEncoderHost controller(provided by user)SERVOPACKKp Position Loop Gain (Pn102Kv Speed Loop Gain Pn100Ti Speed Loop Integral TimeConstant (Pn101)Tf Torque Reference Filter TimeConstant (Pn401)To adjust the servo gain manually, understand the configuration and characteristics of the SERVOPACK andadjust the servo gain parameters one by one. If one parameter is changed, it is almost always necessary to adjustthe other parameters. It will also be necessary to make preparations such as setting up a measuring instrument tomonitor the output waveform from the analog monitor.The SERVOPACK has three feedback loops (i.e., position loop, speed loop, and current loop). The innermostloop must have the highest response and the middle loop must have higher response than the outermost. If thisprinciple is not followed, it will result in vibration or responsiveness decreases.The SERVOPACK is designed to ensure that the current loop has good response performance. The user need toadjust only position loop gain and speed loop gain.9-12