Moons' MBDV Series - Gain Parameter of Speed Loop

167
Rev. 2.0
07/27/2023
MBDV Hardware Manual
10.4.4 Gain parameter of speed loop
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Speed loop gain
Parameter Instruction Name Defaults Range Unit
Related
Patterns
P0-12 VP 1st velocity loop gain 183 0 ~ 30000 0.1Hz P S T
Set the parameters of the speed loop responsiveness. The larger the set value, the faster the
speed loop response of the servo system, it is necessary to increase the speed loop gain value
without causing system vibration. Setting the value too high will cause vibration.
The gain of the velocity loop must be larger than the position loop by 4 ~ 6 times. However,
when the gain of the position loop is larger than that of the speed loop, it will cause vibration or
positioning overshoot.
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Speed loop integral time constant
Parameter Instruction Name Defaults Range Unit
Related
Patterns
P0-13 VI 1st speed loop integral time constant 189 0 ~ 30000 ms P S T
Set the integral time constant of the speed loop.
0 means no integral e󰀨ect, the smaller the set value, the stronger the integral e󰀨ect.
Under proportional gain control, the speed error may not return to zero, or it may take a long time
to return to zero. The integral time constant accumulates all errors and acts together with the
proportional gain. A smaller integral time constant (VI) setting value can improve the response and
responsiveness of the servo system and reduce the following error.
set value of the integral time constant (VI) is too large, the system response will be slow and the
followability will be poor.
integral time constant (VI) is too small, the excessive mechanical Sti󰀨ness of the system will cause
vibration and noise of the entire servo system. This vibration and noise occur during the entire
movement process, and it is always in an oscillating state, which cannot be stabilized.