Manual Gain Tuning; Speed Controller Tuning; Position Controller Tuning - Parker P Series User Manual

5.5 Manual Gain Tuning

When using a cascade-type controller, first tune the gain of the speed controller positioned
inside, and then tune the gain of the position controller positioned outside.
That is, the order tuning is proportion gainintegral gain Feed forward gain.
The role of each gain is as follows.
Proportion gain: determines controller BW Integral gain: determines error of the steady
state, causes overshoot Feed forward gain: improves the system's lag characteristic
Differential gain: damping for the system (not provided)

5.5.1 Speed Controller Tuning

A. Inertial ratio setting
- Use automatic inertia estimation function, or manual tuning
B. Proportion gain setting
- Torque/noise monitoring before vibration occurs
C. Integral gain setting
- Speed overshoot and steady-state error monitoring
- If you want to increase integral gain but overshoot occurs, you can use the P/PI
conversion mode
- The integral gain of this drive is integral time constant,
D. Speed command filter and speed feedback filter setting

5.5.2 Position Controller Tuning

A. Proportion gain setting
- Torque, position error, noise monitoring before vibration occurs
B. Feed forward setting
- Position error monitoring
- Feed forward filter can be set
- If you want to increase feed forward but overshoot occurs, set filter
- Feed forward value can be set from 0 to 100%. The value is the ratio of the
position command value currently being input against the difference
C. Position command filter setting
- It provides smoother position command
Parker Hannifin
P series User Guide 102