6-6
Pn311 Position Loop Gain 2
Initial Value Unit Setting Range Effective RS-485 Address
40 rad/s 1 ~ 2000 Effective after Set 0311H
Setting Description: Please refer to Pn310 Description for the Setting Method
Pn312 Position Loop Feed Forward Gain
Initial Value Unit Setting Range Effective RS-485 Address
0 % 0 ~ 100 Effective after Set 0312H
Setting Description: It can reduce the tracking errors of the position control and speed up the reaction.
If the feed forward gain is too large, it may cause a speed overshoot and the
output contact INP (positioning completion signal) to repeatedly turn on and off.
Cn033 Speed Forward Feed Smoothing Filter
Initial Value Unit Setting Range Effective RS-485 Address
500 Hz 0 ~ 1000 Effective after Set 0024H
Setting Description: Smooth the Speed Feed Forward Command.
Torque Command Smoothing Filter
When the system generates sharp vibration noise,
Cn034
(Torque Command Smoothing Filter)
can be adjusted to suppress the vibration noise, adding this filter will delay the Servo System
Response Speed at the same time.
Speed Loop Gain Sn211 or Sn213
The Speed Loop Gain directly determines the Response Bandwidth of the Speed Control Loop.
Under the premise that the mechanical system does not generate vibration or noise, increasing the
Speed Loop Gain value will speed up the Speed Response. If
Cn025
(Load Inertia Ratio) is set
correctly, the
Speed Loop Bandwidth
equals to
Sn211
(Speed Loop Gain 1) or
Sn213
(Speed Loop
Gain 2).
Load inertia ratio (Ratio between the moment of inertia of the motor and the one of load) is the
basic parameter when running gain adjustment; therefore, it must be set correctly as much as possible.
Speed Loop Integration Time Constant Sn212 or Sn214
Adding integration components to the speed control loop can effectively eliminate the speed
steady-state error and quickly respond to subtle speed changes. In general, under the premise that the
mechanical system does not generate vibration or noise, the speed loop integration time constant is
reduced to increase the system rigidity. If the Load Inertia Ratio is large or there is a resonance factor
in the mechanical system, the Speed Loop Integration Time Constant must be confirmed to be large
enough; otherwise, the mechanical system generates resonance easily. Please use the following
formula to calculate Speed Loop Integration Time Constant:
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