6-3
6-2 Servo Gain Adjustment Parameter Description
This device includes three loops of current control, speed control and position control. The block
diagram is as follows:
In theory, the control loop bandwidth of the inner layer must be higher than the outer layer; otherwise,
the entire control system will be unstable and cause vibrations or poor response. Therefore, the
relationships between these three control loop bandwidths are as follows:
Current Control Loop Bandwidth (the innermost layer) > Speed Control Loop Bandwidth
(the middle layer) > Position Control Loop Bandwidth (the outermost layer)
Since this device has adjusted the current control loop bandwidth to the best state, the user only
needs to adjust the speed and position control loop gain; the following describes the gain adjustment
related parameters.
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