Adjusting Gains In Position Mode - INVT DA180-S2R8SG0 Operation Manual

DA180 series basic AC servo drive

Position loop gain too high
In the position servo system, the position loop gain also impacts stableness. If the position loop gain
is too high, the motor speed fluctuates. According to the comparison with the case of position loop
gain too low, the delay with which the motor speed follows up the position command is decreased in
this case.

Position loop gain too low
If the position loop gain is too low, the motor speed lags behind the position command noticeably, and
positioning time is prolonged. The accuracy and response performance of the positioning system are
impacted seriously.

7.2.1 Adjusting gains in position mode

Semi-closed loop
The following block diagram illustrates semi-closed loop control for DA180 servo drive and lists the
adjustable gain parameters in this control mode.
P0.22 P0.26
P0.25 P0.27
Position command
Electronic
gear
Position Position command
smoothing filter vibration control
P0.33 P1.35
P0.34 P1.36
P1.37
P1.38
P1.39
P0.06
P0.07
P0.08
Frequency
division output
Fully-closed loop
The following block diagram illustrates fully-closed loop control for DA180 servo drive and lists the
adjustable gain parameters in this control mode.
P0.28 P2.10
P0.29 P2.11
Speed
feedforward
Position
controller
P2.02
P2.07
Speed
detection filter
P2.03
P2.08
P2.70
P2.71
P2.12
P2.72
P2.13
P2.73
Torque
Friction
compensation
feedforward
Speed
controller
P2.00
P2.01
P2.05
P2.06
P1.01
P1.02
P2.41
Disturbance
control
P2.42
P2.43
-233-
Commissioning
P2.20 P2.24
P2.22 P2.25
P2.23 P2.26
Gain
switching
Notch filter Torque filter
P1.23 P1.29 P2.04
P1.24 P1.30 P2.09
P1.25 P1.31
P1.26 P1.32
P1.27 P1.33
P1.28 P1.34
P1.19 P1.20
P4.53
Encoder
P0.09
P0.10
P0.11
P4.51
P4.52
Torque limit
Current
controller
Motor