Alpha AS100 Series - Basic Gain Adjustment

Chapter IV Operation
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4.3.1 Basic Gain Adjustment
● Parameters For Speed Loop
The speed loop parameters include: speed loop gain (P00.08), speed loop integral time
constant (P00.09), speed feedback low-pass filter coefficient (P00.10), and speed
reference low-pass filter coefficient (P00.11).
1. The set value adjustment of speed loop gain P00.08:
Increase the speed loop gain can increase the bandwidth of speed loop response; the
higher the speed loop bandwidth, the better the speed response. Under the condition of
no oscillation, try to set a bigger value. In general, the larger the load inertia, the greater
the speed loop gain set value. To increase the speed loop gain, at the same time, the
motor noise will increase, and too large set of speed loop gain may cause system
oscillation.
2. The set value adjustment of speed loop integral time constant P00.09:
The smaller the speed loop integral time, the faster the system response. In general, try
to set a smaller value, but the smaller the integral time may easily cause oscillation. If
the integral time constant setting is too large, the larger the speed changes of load
change. The larger the load rotation inertia, the greater the speed loop integral time
constant set value.
3. The set value adjustment of speed feedback low-pass filter coefficient P00.10:
If the motor noise is large, the set value of speed feedback low-pass filter coefficient
P00.10 can be increased properly.
● Parameters For Position Loop
The position loop parameters include: position loop gain (P00.03), feed-forward gain
(P00.04), and speed feed-forward low-pass filter coefficient (P04.01).
1. According to the above method, set the appropriate speed loop gain P00.08 and
speed loop integral time constant P00.09.
2. The speed feed-forward gain P00.04 shall be set as 0%.
3. The set value of position loop gain P00.03: within the system stable scope, try to set
a larger value.
A larger set value of position loop gain P00.03 will produce a better position instruction
tracking and a smaller position following error, but too large gain will result in
oscillation. In order to use a higher position loop gain, the set value of speed reference
low-pass filter coefficient P00.11 can be increased to avoid overshooting.
The set value of position loop gain P00.03 may refer to the following table: