GSK DA98B - Parameter Adjustment for Speed Loop Regulator; Speed Loop Integral Gain; Filter Coefficient of Torque Instruction; Low Pass Filter Filtering Coefficient of Speed Detection

Chapter 6 Trial run
55
PA05 Proportional gain of speed loop range（150-900）
PA05 is the speed loop proportional gain KP, if its value increases, the action of the
servo will be more agile and faster. If the value is a bit larger, the motor screams with
hardened rigidity. The speed fluctuation of motor increases (inferior surface finish). If
the value is too large, the motor becomes instable, if the value is too small the crawling
of motor occurs for the motor’s softening as well as the action of servo adjustment
lowered. And overshooting of speed occurs in the transmission and loading alternation.
The smaller the value is, the larger the overshooting is. Extreme overshooting will result
in the low frequency oscillation. KP increasing may lower the error of the stable in the
steady system and increase the controlling precision, but the error can’t be
exterminated. If the PA05 value is lower than 100, normal cutting is unavailable for
over-cutting occurred. If the value is higher than 900, severe screaming occurs. In the
absence of oscillation, set a larger value as far as possible. Usually, the bigger the load
inertia is, the smaller the PA05 value set is.
PA06 Speed loop integral gain range (1-15)
PA06 is speed loop integral gain. In practice the parameter can be set in a range of 1～
15, the error of the stable will be lowered if it is properly set and speed fluctuation
lowered. If the value is set for too large, shaking occurs and running speed fluctuation
increases. It is usually set for 2 or 3.
PA07 Filter coefficient of torque instruction range（300-1200）
Used for the cut-off frequency setting of low pass filter of torque instruction.
It is used for limiting the instruction frequency band of current to make the current
respond steadily against current shock and vibration.
If the value is too small, the motor shakes. Set a large value as far as possible if no
oscillation occurs. It is usually set for 600.
PA08 Low pass filter filtering coefficient of speed detection range（40-1000）
The smaller the setting is, the better the filtering effect is. If the setting is too small, the
speed fluctuation increases that results in severe shaking in running.
If the setting is too large, the speed fluctuation increases with the motor screaming. It
is usually set for 80.
PA50 Filtering coefficient of external analog instruction range（20~4096）
If the setting is too small, overshooting occurs in transmission with enhancing
Parameter ad
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ustment for speed loop re
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ulator