1. Positional proportional gain
Sets the proportional gain of the position ring adjuster. The higher the set value, the higher the gain, the greater the stiffness, and the smaller the position lag under the same frequency command pulse. However, too large a value may cause oscillations or overshoots. The parameter values are determined by the specific servo system model and the load situation.
2. Position feedforward gain
Sets the feedforward gain of the position ring. When the set value is larger, it means that under any frequency of command pulses, the smaller the position lag, the greater the feedforward gain of the position loop, and the high-speed response characteristics of the control system are improved, but the position of the system will be unstable and oscillation will be easily generated. When a high response characteristic is not required, this parameter is usually set to 0 to indicate the range: 0-100%
3. Velocity proportional gain
Sets the proportional gain of the speed regulator. The higher the setting value, the higher the gain and the greater the stiffness. The parameter values are determined according to the specific servo drive system model and load value. In general, the larger the load inertia, the larger the setpoint. Under the condition that the system does not oscillate, try to set a large value.
4. Velocity integration time constant
Sets the integration time constant for the speed regulator. The smaller the setting value, the faster the integration will be. The parameter values are determined according to the specific servo drive system model and load situation. In general, the larger the load inertia, the larger the setpoint. Under the condition that the system does not oscillate, try to set a small value.
5. Velocity feedback filter factor
Set the characteristics of the low-pass filter for speed feedback. The higher the value, the lower the cut-off frequency and the less noise generated by the motor. If the load inertia is large, the set value can be reduced appropriately. If the value is too large, the response will be slower and may cause oscillation. The lower the value, the higher the cut-off frequency and the faster the velocity feedback response. If a higher speed response is required, the setpoint can be reduced appropriately.
6. Maximum output torque setting
Sets the internal torque limit value of the servo drive. The setting value is the percentage of the rated torque, and at any time, this limit is valid for positioning completion range under the setting position control mode positioning completion pulse range. This parameter provides the basis that the driver judges whether to complete the positioning under the position control mode, when the number of remaining pulses in the position deviation counter is less than or equal to the set value of this parameter, the driver thinks that the positioning has been completed, and the switch signal in place is ON, otherwise it is OFF.
In the position control mode, the output position positioning completion signal, the acceleration and deceleration time constant setting value is to indicate the acceleration time of the motor from 0 to 2000 r/min or from 2000 to 0 r/min. The acceleration and deceleration characteristics are linear, the arrival speed range is set, and the arrival speed is set in the non-position control mode, if the servo motor speed exceeds this set value, the speed arrival switch signal is ON, otherwise it is OFF. In position control mode, this parameter is not used.
7. Manually adjust the gain parameters
Adjust the speed proportional gain KVP value. When the servo system is installed, the parameters must be adjusted to make the system rotate stably. First, adjust the KVP value of the proportional gain of velocity. Before adjustment, the integral gain KVI and differential gain KVD must be adjusted to zero, and then the KVP value must be gradually increased. At the same time, observe whether the servo motor oscillates when it stops, and adjust the KVP parameters manually to observe whether the rotation speed is obviously fast and slow. When the KVP value increases to the point where the above phenomenon occurs, the KVP value must be adjusted back to a small amount so that the oscillation is eliminated and the rotation speed is stable. In this case, the KVP value is the preliminarily determined parameter value. If necessary, after adjusting with KVI and KVD, it can be repeatedly corrected to achieve the desired value.
Adjust the integral gain KVI. value. The integral gain KVI value is gradually increased, so that the integral effect is gradually generated. From the above introduction of integral control, it can be seen that the KVP value will oscillate and be unstable when the integral effect is increased to the critical value, just like the KVP value, the KVI value will be called back to a small size, so that the oscillation will be eliminated and the rotation speed will be stable. The KVI value at this point is the preliminarily determined parameter value.
Adjust the differential gain KVD value. The main purpose of differential gain is to smooth out the rotation of the velocity and reduce the amount of overshoot. Therefore, increasing the KVD value gradually improves the speed stability.
Adjust the position proportional gain KPP value. If the KPP value is adjusted too much, the motor positioning overshoot will be too large when the servo motor is positioned, resulting in instability. At this time, it is necessary to reduce the KPP value to reduce the overshoot amount and avoid the unstable zone; However, it should not be adjusted too small to reduce the positioning efficiency. Therefore, it should be carefully coordinated when adjusting.
8. Automatically adjust the gain parameters
Modern servo drives are microcomputerized, and most of them provide automatic gain adjustment (autotuning) to cope with most load conditions. When adjusting parameters, you can use the automatic parameter adjustment function first, and then manually adjust if necessary.
In fact, there are also options for automatic gain adjustment, which generally divide the control response into several levels, such as high response, medium response, and low response, which can be set according to the actual needs of the user.
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