Maxsine EP3 E Series - Gain Parameters

4.5 Gain adjustment
51
4.5.1 Gain parameters
The parameters related to the gain are:
Param
eter
Name Range
Default
value
Unit Usage
P005 First speed loop gain 1～3000 40 Hz P,S
P006 First speed loop integral time constant 1.0～1000.0 20.0 ms P,S
P009 First position loop gain 1～1000 40 1/s P
P017 Load inertia ratio 0.0～200.0 1.0 times P,S
The definition of symbol as follows:
K
v
：Speed loop gain Kv;
T
i
：Speed loop integral time constant;
K
p
：Position loop gain;
G ：Ratio of load moment of inertia (P017);
J
L
：Load moment of inertia converted to motor shaft;
J
M
：Rotational inertia of motor rotor.
1. Speed loop gain Kv
The speed loop gain K
V
directly determines the response bandwidth of the speed loop.
Under the premise that the mechanical system does not produce vibration or noise, increase
the gain value of the speed loop, the speed response will be accelerated, and the better the
following of the speed command will be. However, too large setting is easy to cause
mechanical resonance. Velocity loop bandwidth is expressed as:
)(
/1
1
)(bandwidth loop Speed HzK
JJ
G
Hz
v
ML




If the load moment of inertia ratio G is set correctly (G=J
L
/J
M
), then the speed loop
bandwidth is equal to the speed loop gain K
V
.
2. Speed loop integral time constant T
i
Speed loop integral can effectively eliminate the steady-state error, and a minor change
the speed of the quick response. In mechanical system under the premise of vibration or noise,
reduce the speed loop integral time constant T
i
, to increase the system rigidity, reduce the
steady-state error. If the load inertia than large or mechanical system resonance factors are
must confirm the speed loop integral time constant is enough big, otherwise the mechanical
system is easy to produce resonance. If the load moment of inertia than G set (G=J
L
/J
M
) right,
the speed loop integral time constant T
i
are obtained by the following formula:
)(2
4000
)(
HzK
msT
V
i


