Hiwin D1-N Series - Advanced Gains - Schedule Gains + Vpg

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Assembly and Commissioning Instructions Servo amplifier D1-N

15.10.2015
9.7.3
“Advanced gains” – “Schedule Gains + vpg”
Figure 9.51: “Advanced gains” – “Schedule Gains + vpg”
The D1-N has what is known as a “common gain (CG)” for speed and position con-
troller amplification.
The effect of this amplification can also be adapted in three sections of the motion
profile:
•
-sg_run:
Mainly when the drive is in motion (moving)
•
-sg_stop:
Mainly when the drive is in its settling time (settling)
•
-sg_idle:
Mainly when the drive is stationary in a position (in position)
The value entered is multiplied internally by the “CG”.
The “vpg” (Velocity proportional gain) was set automatically after the mass inertia
measurement
.
This value is ideal when the load and friction don't change. Howev-
er, if these parameters change, a second gain (“secondary CG” and “secondary
vpg”) can be used to adjust the optimum controller amplification. A digital input
must be assigned accordingly for the changeover.