EA180 Series Servo Drive Users Manual 6.4 Gain adjustment summary 6.4.1 Purpose For the commands issued from the upper device, the drive needs to make the motor work faithfully and without delay according to the command as far as possible. In order to make the motor act more closely to the command and maximize the mechanical performance, gain adjustment is required. (Example: Screw) Gain setting: Low Gain setting: High Gain setting:
High + feedforward setting +3000 rpm 0 Position loop gain 20.0 1/s Position loop gain 60.0 1/s Position loop gain 60.0 1/s -3000 Speed loop gain 8.0 Hz Speed loop gain 30.0 Hz Speed loop gain 30.0 Hz Integral time constant of speed loop 30.0 ms Integral time constant of speed loop 30.0 ms Integral time constant of speed loop 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 6.4.1 Gain adjustment modes 58 Adjustment Load inertia Auto-set Manually set parameters P4-00 General applications mode ratio parameters P4-00=0 Fixed as the value of P4-10 - All gain parameters Universal Manual mode P4-00=1 P4-02 P4-03 P4-05 P4-29 P4-01 P4-10 The load inertia is basically unchanged.
Semi-auto mode P4-00=2 Auto measurement P4-10 P4-02 P4-03 P4-05 P4-29 P4-01 Load inertia changes slowly Auto mode 1 P4-00=3 Load inertia changes a bit fast Auto mode 2 P4-00=4 Load inertia changes fast Auto mode 3 Attention☞ 1 Load inertia changes slowly: Load inertia changes from minimum to maximum linearly in tens of seconds. 2 Load inertia changes a bit fast: Load inertia changes from minimum to maximum linearly in seconds. 3 Load inertia changes fast: Load inertia changes from minimum to maximum linearly in hundreds of milliseconds. 4 Auto modes 1, 2 and 3 cannot be used if the load inertia will change abruptly.