Chapter 6 Application; Gain Adjustment - Leadshine EL8-EC Series User Manual

6.1 Gain Adjustment

In order for servo driver to execute commands from master device without delay and to
optimize machine performance, gain adjustment has to be done yet.
Low gain
[r/min]
+3000
Actual velocity
Command velocity
-3000
200 400
0
Position loop gain: 320 (0.1/s)
Velocity loop gain: 180 (0.1Hz)
Velocity loop integral time
constant: 31ms
Servo driver gain adjustment is done in combination with a few other parameters (Inertia
ratio, Position loop gain, Velocity loop gain and Filters settings). These parameters will
have an effect on each other so it always advisable to tune each parameter accordingly in
order to achieve optimal machine performance. Please refer to the steps below

Chapter 6 Application

200
600
0
Position loop gain: 900 (0.1/s)
Velocity loop gain: 500 (0.1Hz)
Velocity loop integral time
constant: 31ms
User manual of EL8-EC***F AC Servo
High gain
400 600
Position loop gain: 900 (0.1/s)
Velocity loop gain: 500 (0.1Hz)
Velocity loop integral time
constant: 31ms
High gain + feedforward
200 400 600
0
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