Properly increase the Speed
Loop Gain or decrease the
Speed Loop Integral Time.
It is recommended to increase the Speed Loop Gain and decrease the Speed Loop Integral Time to obtain
a larger speed loop bandwidth.
Position loop (Position Control Mode)
− Relevant parameters in speed loop (Kv, Ti, Tf, and JL)
− Position Loop Gain (Kp)
The position loop is controlled using a Proportional Controller that only contains the Position
Loop Gain. This parameter determines the position loop bandwidth. If you increase the Position
Loop Gain, the position loop bandwidth will be increased and the anti-load disturbance
performance will be better. However, overshooting and vibration in the position reference may be
occurred.
It is recommended to set the Position Loop Gain to a quarter of the Speed Loop Gain, and make
appropriate adjustments based on this.
Applicated Case
Applied for that more than 50 times the load moment of inertia.
Applied for any rotation speed.
Relevant Parameters
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