E1 Series Servo Drive User Manual Tuning
HIWIN MIKROSYSTEM CORP. 10-15
Users can directly start manual tuning from the default settings of parameters or after auto tuning is
performed.
Precaution
Install emergency stop device to immediately stop the motor when vibration occurs.
Manual tuning procedure (Only position loop and velocity loop can be manually adjusted.)
Step 1: Adjust first stage first torque command filter time constant (Pt401) so vibration does not
occur.
Step 2: Increase velocity loop gain (Pt100) as much as possible and decrease velocity loop
integral time constant (Pt101) within the range that does not cause vibration.
Step 3: Repeat step 1 and step 2. If vibration occurs, decrease the modified value by 10~20%.
Step 4: In position control, increase position loop gain (Pt102) as much as possible within the
range that does not cause vibration.
While adjusting servo gains, if one parameter is largely adjusted, other parameters will also need to
be adjusted again. Do not largely adjust one parameter only. While adjusting gain-related parameter,
increase or decrease the value by 5% each time. For adjusting gain-related parameters, please refer
to below.
To increase response
(1) Decrease first stage first torque command filter time constant (Pt401)
(2) Increase velocity loop gain (Pt100)
(3) Decrease velocity loop integral time constant (Pt101)
(4) Increase position loop gain (Pt102)
To decrease response to avoid vibration and overshoot
(1) Decrease position loop gain (Pt102)
(2) Increase velocity loop integral time constant (Pt101)
(3) Decrease velocity loop gain (Pt100)
(4) Increase first stage first torque command filter time constant (Pt401)
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