Tuning D1 Servo Drive User Manual
6-44 HIWIN MIKROSYSTEM CORP.
6.7.4 Gain tuning
Loop constructor allows user to adjust velocity loop gains (vpg and vig), position loop gain (ppg) and
common gain (CG) to simulate the stability of control system after gain tuning.
Figure6.7.4.1 Gain tuning in Loop constructor
◼ Velocity loop
The gains of velocity loop are vpg and vig. vpg is the proportional gain of velocity loop. vig is the
integral gain of velocity loop.
(1) vpg: Adjusting vpg will affect the transient response of velocity loop and increase the bandwidth
of velocity loop.
(2) vig: Adjusting vig will affect the steady-state error of velocity loop. The system may become
unstable if vig is set to be too high.
◼ Position loop
The gain of position loop is ppg. ppg is the proportional gain of position loop.
(1) Adjusting ppg will affect the transient response of position loop and increase the bandwidth of
position loop.
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