INVT SV-DA200 Operation Manual page 220

SV-DA200 series AC servo drives Commissoning
comparing with the case when the gain of the position loop is too low we can know that the pure time
delay of the response to the position command of the motor speed is decreased.
 Gain of the position loop is too low
When we adjust the gain of the position loop to a low value, the motor speed follow-up position
command represents obvious lag and the positioning time is prolonged largely. The high accuracy
and high response performance of the positioning system are seriously affected.
7.2.1 Adjustment of the gain of the position loop
The position control block diagram of the SV-DA200 series servo drive is shown in the figure below.
The gain parameters that can be adjusted in the position mode are marked out on the block diagram.
The general procedures for parameter adjustment in the position mode are:
1) Initial setting of the parameters
The defaults of the parameters can be recovered by the default parameter recovering operation (see
chapter 5.2.5.3 for details).
2) Adjustment of the gain of the position loop
When the servo motor is running with default parameters, if the system oscillation occurs with buzz,
the position gain (P2.02, P2.07) should be adjusted smaller. If the system rigidity is relatively small,
the position gain should be adjusted larger.
3) Adjustment of the position smoothing filter
During position control, if the position pulse commands input frequency varies largely, it may be
caused by a larger impulse. At this time the position smoothing filters time constant(P0.33) or position
command FIR filter (P0.34) should be adjusted to moderate the impulse.
4) Adjustment of the electronic gear
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