Automatic Gain Adjustment - Parker FL-20-C Series Product Manual

faster the system response.
Servo rigidity must be used along with the load rotational inertia, the larger the load inertia, the
lower the allowable rigidity level. If servo rigidity is higher than inertia ratio, high-frequency
self-excited oscillation will occur. Otherwise, motor response is slow, motor takes long time to
reach specified location.
The servo system consists of three control loops, namely, position loop, speed loop, and current
loop from external to internal. The following figure shows the basic control block diagram.
Speed
速度前馈
feedforward
Position
位置指令
Instruction
输入 +
Input
-
位置
Position
反馈
Feedback
The most internal loop must have the highest response. If it is not observed, the system may be
unstable.
The default current loop gain of the servo drive ensures the response, and need not be adjusted.
You only need to adjust the position loop gain, speed loop gain and other auxiliary gains.

9.3.2 Automatic Gain Adjustment

Automatic gain adjustment means that the servo drive automatically produces the matching gain
parameters based on the setting of Po010 (Rigidity level selection) to achieve fast response and
stability.
CAUTION:
Ensure that the correct inertia ratio has been obtained before enabling automatic gain
adjustment.
Related Parameter:
2000h-0Bh
+
+
Postion loop
位置环增益 X
X
-
gain
速度反馈 Speed
feedback
滤波
filter
Speed
速度计算
Cauculation
Fig 9.3.1 Servo drive internal frame diagram
Rigidity Selection
Setting Range
1~30
Function code
Torque
转矩前馈
feedforward
+
Speed loop
X
速度环增益
gain
+
Speed loop
速度环积分
integral time
时间常数
constant
Setting Unit
N/A
Mapping
283
+
电流环控
+
Current loop
X
制
control
-
电流
Current
反馈
feedback
PP PV PT CSP CSV CST HM
Mfr's Value
6
Data type Accessibility
M
编码器
Encoder
Effect
Immediate