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

9 Adjustments9.3.4 Speed Loop Gain9.3.4 Speed Loop GainPn100Speed Loop Gain (Kv)SpeedPositionSetting Range Setting Unit Factory Setting Setting Validation1 to 2,000 Hz 40 ImmediatelyThis parameter determines the responsiveness of the speed loop. If the speed loop’s responsiveness is too low, it will delaythe outer position loop and cause overshooting and vibration of the speed reference. The SERVOPACK will be most stableand responsive when the speed loop gain is set as high as possible within the range that does not cause vibration in themechanical system. The value of speed loop gain is the same as the set value of Pn100 if the moment of inertia ratio inPn103 has been set correctly.Pn103Moment of Inertia RatioSpeed Position TorqueSetting Range Setting Unit Factory Setting Setting Validation0 to 10,000 % 0 ImmediatelyPn103 set value =Motor axis conversion load moment of inertia (J L )Servomotor rotor moment of inertia (J M )×100(%)The factory setting is Pn103=0. Before adjusting the servo, determine the moment of inertia ratio with the equation aboveand set parameter Pn103.9.3.5 Speed Loop Integral Time ConstantPn101Speed Loop Integral Time Constant (Ti)SpeedPositionSetting Range Setting Unit Factory Setting Setting Validation15 to 51,200(0.15 to 512.00 ms)0.01 ms 2,000(20.00 ms)ImmediatelyThe speed loop has an integral element so that the speed loop can respond to minute inputs. This integral element causes adelay in the SERVOPACK. If the time constant is set too long, overshooting will occur, which results in a longer positioningsettling time or responsiveness decreases.The estimated set value for Pn101 depends on the speed loop control method with Pn10B.1, as shown below.INFO• Selecting the Speed Loop Control Method (PI Control or I-P Control)Generally, I-P control is more effective in high-speed positioning or high-speed/precision manufacturing applications. Theposition loop gain is lower than it would be in PI control, so shorter positioning times and smaller arc radii can beachieved. On the other hand, PI control is generally used when switching to P control fairly often with a mode switch orother method.9-14