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

DA180 series basic AC servo drive

7.2.2 Adjusting gains in speed mode

The following block diagram illustrates speed control for DA180 servo drive and lists the adjustable
gain parameters in this control mode.
Speed command
P0.46 P0.50
P0.47 P0.51
P0.48 P0.52
P0.49 P0.53
Internal
speed
command
Analog
speed
command
Communicat
ion bus
P0.42
command
P0.43
P0.45
P4.10
P3.20
P4.13
P3.21
P3.22
The common procedure for adjusting parameters in speed mode is as follows:
1. Restore default settings.
For details, see section 5.2.5.3 "Factory parameter restoring".
2. Adjust the speed loop gain.
If the servo motor runs with default settings but the system vibrates with buzzes, you need to
decrease the speed loop gain (that is, P2.00 or P2.05) or increase it when the system rigidity is low or
the speed fluctuates sharply.
3. Adjust the speed integral time constant.
If the speed loop gain is increased, you need to increase the speed integral time constant (that is,
P2.01 or P2.06) as well. Conversely, if the speed loop gain is decreased, you need to decrease the
speed integral time constant as well.
4. Adjust the ACC/DEC time.
If the speed in the starting process changes sharply, huge surges or overcurrent may be caused. You
need to adjust P0.54 [ACC time] to smooth the ramp-up. Similarly, you can adjust P0.55 [DEC time] to
smooth the ramp-down for the stop.
5. Adjust the S-curve ACC/DEC time.
If the speed change cannot be smoothed by adjusting the ACC or DEC time, you can adjust P0.56
[S-curve ACC time] or P0.57 [S-curve DEC time].
6. Adjust the speed smoothing filter.
P0.54
P0.55
P0.40 P0.56
P0.41 P0.57
Speed
ACC/DEC
command
time
selection
Speed
detection
filter
P2.03
P2.08
P0.06
P0.07
P0.08
Frequency
division output
P2.70
P2.71
P2.12
P2.72
P2.13
P2.73
Torque
Friction
feedforward compensation
Speed
controller
P2.00 P1.23
P2.01 P1.24
P2.05 P1.25
P2.06 P1.26
P1.01 P1.27
P1.02 P1.28
P1.19
P2.41
Disturbance
control
P2.42
P2.43
-235-
Commissioning
P2.20 P2.29
P2.27 P2.30
P2.28
Gain
switching
Notch filter Torque filter
P1.29 P2.04
Torque limit
P1.30 P2.09
P1.31
P1.32
P1.33
P1.34
P1.20
P4.53
Encoder
P0.09
P0.10
P0.11
P4.51
P4.52
Current
controller
Motor