Hiwin D2 Series User Manual

D2 Series Servo Drive User Manual Drive Tuning
HIWIN MIKROSYSTEM CORP. 6-45
MD07UE01-2005
6.7.4 Gain tuning
“Loop constructor” provides gain values of velocity loop (vpg, vig) and position loop (ppg), and common
gains (CG). Refer to Section 6.6 for more information. These parameters can be used to tune gains to
simulate the stability of control system after gain tuning, as shown in figure 6.7.4.1.
Figure6.7.4.1 Loop constructor - gains
(1) Velocity loop
Gains of velocity loop are vpg and vig, where vpg is the proportional gain of velocity loop and vig is
the integral gain of velocity loop.
 vpg: Tuning vpg affects the transient response of velocity loop and increase the bandwidth of
velocity loop.
 vig: Tuning vig affects the steady-state error of velocity loop, but the excessive adjustment may
cause the system instability.
(2) Position loop
The proportional gain of position loop is ppg.
 ppg: Tuning ppg affects the transient response of position loop and increase the bandwidth of
position loop.

Hiwin D2 Series Specifications

General

Brand	Hiwin
Model	D2 Series
Category	Servo Drives
Language	English