E1 Series Servo Drive User Manual Tuning
10-14 HIWIN MIKROSYSTEM CORP.
10.6 Manual tuning
10.6.1 Adjusting servo gains
Users must have thorough understanding about the configuration and characteristics of the servo loop
before manually adjusting servo gains. In most cases, if one parameter is largely adjusted, other
parameters will also need to be adjusted again. To check the response of the servo loop, use measuring
instrument to observe the output waveforms via analog monitor. The servo loop consists of position loop,
velocity loop and current loop. The inner the loop is, the better the response must be. If this principle is not
followed, it may result in poor response or vibration. Users do not need to adjust current loop, since
current loop gain is set by the servo drive automatically.
Figure10.6.1.1 Servo drive gain control
The response of the servo drive could be improved by manually adjusting servo gains. For instance, the
positioning time could be shorter in position control. Manual tuning is suggested in the following cases.
(1) The desired tuning result is not achieved, after auto tuning is performed.
(2) The servo gains must be increased after auto tuning is performed.
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