5 Parameters and Tuning
5.1 Parameters Outline
The following parameters are adjustable by connection through RS232 or USB interface from the servo
drive to the PC. No matter the command mode, the JP2 RS232 port is always active for parameter setting
and drive configuration.
The Drive Configuration and Servo Status are stored in the EEPROM of servo drive when the save button
is pressed or parameter setting is issued through the serial communication.
The guaranteed write cycle for the EEPROM is 1 million times. Do not use serial communication to con-
stantly change the drive parameters as this will decrease servo drive life span. Major parameter change
and setting should only be done during initial testing and tuning. Actual drive operation should not require
constant parameter changes unless changing servo control modes on the fly through RS232.
Parameter Name Setting Range Details
Applicable Servo
Mode
Main Gain [ 1 : 127 ]
The main gain for the servo loop, usually to be increased
as the motor load increases. The bigger value of MainGain
means wider frequency range of servo loop relatively.
Position
Speed
Torque
RS232
Speed Gain [ 1 : 127 ]
The speed gain for the servo loop, usually to be increased
as the motor load increases. The bigger value of Speed
Gain means narrower frequency range of servo loop
relatively. Physically, heavier loads or higher inertia loads
should have lower dynamic ability, so the servo loop fre-
quency range should be more narrow by using bigger value
of Speed Gain. If the Speed Gain is too high, there will be
noise and vibration in servo motor because the torque com-
mand will be too coarse, not smooth. For higher Speed
Gain settings, a smaller Torque Constant (see TrqCons)
setting can be used to attenuate noise and vibration.
Position
Speed
Torque
RS232
Integration Gain [ 1 : 127 ]
There is an integrator in the servo loop to ensure the error
between position command and real position be zero
during the steady state. Also that integrator will let servo
have more ability to attenuate the outside disturbance
torque. The bigger value of Integration Gain, the more abil-
ity of the servo to attenuate the outside disturbance torque.
Integration Gain should be decreased for heavier loads or
higher inertia loads.
Position
Speed
Torque
RS232
Torque Constant [ 1 : 127 ]
TrqCons is a rst order lter constant, the bigger value
means wider frequency range of that lter. That lter can
be expressed as : a / ( S + a), here a = 26*TrqCons, if
TrqCons = 100, then a = 2600. That lter is used to make
the torque sent to torque loop more smooth, especially for
heavier loads when bigger SpeedGain is used. If a very
quick response servo with small load is desirable, a bigger
value or even the max value 127 should be used to ensure
the dynamic stability.
Speed
Torque
RS232
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