E1 Series Servo Drive User Manual Tuning
10-16 HIWIN MIKROSYSTEM CORP.
10.6.2 Gain parameters
Position loop gain
The response of the position loop in the servo drive is determined by position loop gain. The higher
the position loop gain is, the better the response and the shorter the positioning time are. Normally,
position loop gain cannot be too high. Otherwise, the machine may vibrate. To increase position loop
gain, the mechanical stiffness must be improved.
Table10.6.2.1
Parameter Pt102 Range 10 ~ 40000
Position mode
Default 400 Effective Immediately Unit 0.1/s
Description
Position loop gain
For machine with lower mechanical stiffness, since position loop gain cannot be too high, position
deviation overflow alarm may occur while operating at high speed. At this time, increase the alarm
value for overflow position deviation (Pt520 or Pt521) to increase the allowable range for position
deviation.
Alarm value for overflow position deviation (Pt520 or Pt521) (Setting unit: 1 control unit), please
refer to section 10.2.3.
Table10.6.2.2
Parameter Pt520 Range 1 ~ 1073741823
Position mode
Default 5242880 Effective Immediately Unit 1 control unit
Description
Alarm value for overflow position deviation (rotary servo motor)
Table10.6.2.3
Parameter Pt521 Range 1 ~ 1073741823
Position mode
Default 500000 Effective Immediately Unit 1 control unit
Description
Alarm value for overflow position deviation (linear servo motor)
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