6.4 Gain adjustment introduction 6.4.1 Purpose For commands given by the upper computer, the driver needs to make the motor work following the commands faithfully without delay. To make the motor act more strictly following commands and give a full play to mechanical performance, gain adjustment is necessary. (For example:screw rod) 6.4.1 Gain adjustment type 6.4.2 Effect of gain adjustments 53 Technical Manual for EA190 Series Servo Driver V100 Gain setting: Low Gain setting: High Gain setting:
High + Feedforward setting Position loop gain 20.0 1/s Position loop gain 60.0 1/s Position loop gain 60.0 1/s Speed loop gain 8.0 Hz Speed loop gain 30.0 Hz Speed loop gain 30.0 Hz Speed loop integral time constant 30.0 ms Speed loop integral time constant 30.0 ms Speed loop integral time constant 30.0 ms Speed feedforward gain 0.0 % Speed feedforward gain 0.0 % Speed feedforward gain 100.0 % Inertia ratio 20.0 Inertia ratio 20.0 Inertia ratio 20.0 Adjustment mode P4-00 Load inertia ratio Automatically set parameters Manually set parameters Generally applicable scenarios Manual mode P4-00 = 0 Fixed to the P4-10 value - All gain parameters General Semi-automatic mode P4-00 = 1 P4-02 P4-03 P4-05 P4-29 P4-01 P4-10 Basically unchanged load inertia Automatic mode 1 P4-00 = 2 Automatic determinati on P4-10 P4-02 P4-03 P4-05 P4-29 P4-01 Slow load inertia change Automatic mode 2 P4-00 = 3 Relatively fast load inertia change Automatic mode 3 P4-00 = 4 Fast load inertia change Caution☞ 1.Slow inertia change refers to change of load inertia from the lowest to the highest, which is generally a linear process at the tens of seconds level.
2.Relatively fast inertia change refers to change of load inertia from the lowest to the highest, which is roughly a linear process at the second level. 3.Fast inertia change refers to change of load inertia from the lowest to the highest, which is roughly a linear process at the millions of milliseconds level. 4.For scenarios where load inertia may abruptly change, automatic modes 1, 2 and 3 cannot be used.
Function Description Automatic adjustment Real-time automatic gain adjustment An appropriate gain is automatically set according to the inertia of mechanical load determined in real time Semi-automatic gain adjustment Inertia of load is measured offline, with an appropriate rigidity value set to automatically generate the gain Adaptive filter In the actual running state, resonance frequency can be deduced through analysis of the motor speed, and the notch filter coefficient can be automatically set; removal of the resonance component from the torque command can reduce vibration at points of resonance Manual adjustment Basic steps Adjustment of the position control mode Adjustment of the speed control mode Adjustment of the torque control mode Gain switching function Internal data or external signal is used for gain switching, so as to reduce vibration at stop, shorten the setting time and improve the command