D2 Series Servo Drive User Manual Drive Tuning
HIWIN MIKROSYSTEM CORP. 6-21
6.6 Advanced gains
Important tasks of servo drive include whether the time from the motor starting moving to arriving the
position, i.e. “Move & Settle” (see Section 3.7), is very small, and whether the position error is very small
and the velocity is very smooth during motion. These performance improvements can be achieved by
tuning gains and parameters. The simplest way of D2 drive to adjust the performance of motor motion is
to tune the common gain (“Primary CG”). The greater the common gain is, the stronger the servo rigidity
is. However, if the servo rigidity is too strong, the system vibration or electrical noise may be generated.
These phenomena are various with the mechanical status.
Figure6.6.1 Performance center
When using only common gain cannot fulfill the required performance, this system also provides
“Advanced gains”, included functions of “Filter”, “Acc feedforward”, “Schedule Gains + vpg”, “Analog
input”, “current loop”, and so on.
gains
Gain
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