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

DA180 series basic AC servo drive Commissioning
If the analog input is a speed command, you can adjust the analog input filter to smooth the speed
change.
7. Adjust the speed feed-forward.
If the speed tracking performance is not improved after the parameter adjusting, you can adjust P2.12
[Torque feed-forward gain] and P2.13 [Torque feed-forward filter time] to improve it. However, if the
torque feed-forward gain is too high, the system may become unstable.
8. Adjust time filtering.
You can improve speed loop performance by adjusting the torque filter parameters P2.04 and P2.09
and speed detection filter parameters P2.03 and P2.08.
9. Adjust notch filtering.
For details, see section 7.3 "Mechanical resonance suppressing".
10. Set the frequency division for feedback pulse output.
If the encoder feedback pulse signal needs to be output, you can set the frequency-division output
coefficient parameters P0.06 and P0.07 to change the pulse output frequency.
11. Adjust disturbance suppression.
If the load change is noticeable or sudden external disturbance on the torque occurred when the gain
settings are small, you can adjust P2.42 [Disturbance observer compensation gain] and P2.43
[Disturbance observer cut-off frequency]to reduce the impact by external disturbance, so as to
improve speed loop performance.
12. Adjust friction compensation.
If the speed follow-up performance is poor in the process of the motor changing the direction for
forward or reverse rotating, you can adjust P2.71 [CCW torque coefficient of friction compensation]
and P2.72 [CW torque coefficient of friction compensation] to improve speed loop performance in the
process.

7.2.3 Adjusting gains in torque mode

The following block diagram illustrates torque control for DA180 servo drive and lists the adjustable
gain parameters in torque control mode.
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