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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)
8.5.1 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
8.5.2 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 EtherCAT Drive User Guide
150
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