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

9.3 Manual Tuning9.3.2 Servo Gain Manual TuningThe SERVOPACK has the following parameters for the servo gains. Setting the servo gains in the parameterscan adjust the servo responsiveness.• Pn100: Speed loop gain (Kv)• Pn101: Speed loop integral time constant (Ti)• Pn102: Position loop gain (Kp)• Pn401: Torque reference filter time constant (Tf)For the position and speed control, the adjustment in the following procedure can increase the responsiveness.The positioning time in position control can be reduced.StepExplanation1 Set correctly the moment of inertia ratio (Pn103). The utility function Fn007 can be used after theonline autotuning.2 Increase the speed loop gain (Pn100) to within the range so that the machine does not vibrate. At thesame time, decrease the speed loop integral time constant (Pn101).3 Adjust the torque reference filter time constant (Pn401) so that no vibration occurs.4 Repeat the steps 1 and 2. Then reduce the value for 10 to 20%.5 For the position control, increase the position loop gain (Pn102) to within the range so that the machinedoes not vibrate.Perform the manual tuning in the following cases.• To increase the servo gains more than the values set by the online autotuning.• To determine the servo gains and moment of inertia ratio by the user.Start the manual tuning from the factory setting or the values set by the online autotuning. Prepare measuringinstruments such as memory recorder so that the signals can be observed from the analog monitor (CN5) such as“Torque Reference” and “Motor Speed,” and “Position Error Monitor” for the position control. (Refer to 9.5Analog Monitor.) The servodrive supporting tool “SigmaWin100/200” allows you to observe such signals. Prepareeither of them.9.3.3 Position Loop GainPn102Position Loop Gain (Kp)PositionINFOSetting Range Setting Unit Factory Setting Setting Validation1 to 2,000 1/s 40 ImmediatelyThe responsiveness of the position loop is determined by the position loop gain. The responsiveness increases and the positioningtime decreases when the position loop gain is set to a higher value. In general, the position loop gain cannot be sethigher than natural vibrating frequency of the mechanical system, so the mechanical system must be made more rigid toincrease its natural vibrating frequency and allow the position loop gain to be set to a high value.If the position loop gain (Pn102) cannot be set high in the mechanical system, an overflow alarm may occur during highspeed operation. In this case, increase the values in the following parameter to suppress detection of the overflow alarm.9Pn505Overflow LevelPositionSetting Range Setting Unit Factory Setting Setting Validation1 to 32,767 256 reference units 1,024 ImmediatelyThis parameter’s new setting must satisfy the following condition.Pn505 ≥ Max. feed speed (reference units/s) × 2.0Pn1029-13