Gain Adjustment; Summary - Parker FL-20-C Series Product Manual

9.3 Gain Adjustment

9.3.1 Summary

User needs to adjust servo gain to improve servo drive response, which requires setting
parameter combinations, which influence each other. Therefore, parameter relation must be
considered for gain adjustment.
In general, response of high rigidity machine can be improved by increasing servo gain. But for
low rigidity machine, vibration may occur when servo gain increases. Therefore, if high
response is required, high rigidity machine is required to avoid vibration.
Response frequency of position or speed must be selected according to the machine rigidity and
application.
In general, high precise machining requires high response frequency, but high response
frequency may bring vibration. If allowable response frequency is unknown, user can increase
gain gradually to raise response frequency until vibration occurs and then decrease gain. Gain
adjustment principle is as following:
Servo rigidity is the ability that motor rotor withstands load inertia, which is self-locking ability
of motor rotor. The stronger the servo rigidity, the larger the corresponding speed-loop gain, the
Servo enabled
Set Po008=3
Servo enabled
PC/PLC running,
Real-time calculate
Fig 9.2.2 online rotational inertia setting flow chart
Start
OFF
ON
Motor running
load inertia ratio
automatically
Finish
282