Technical Manual for EA350 Analog Pulse Type Servo Driver V101 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 closely to the command and give a full play to mechanical performance, gain adjustment is necessary. (For example: screw rod) 6.4.1 Gain adjustment type 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.
Caution ☞ 6.4.2 Effect of gain adjustments 64 Adjustment P4-00 Load inertia ratio Automatically set Manually set Generally applicable scenarios mode parameters parameters Manual mode P4-00=0 Fixed to the P4-10 value - All gain parameters General P4-00=1 P4-02 P4-03 P4-05 P4-29 P4-01 P4-10 Basically unchanged load inertia Semi-automatic mode Automatic mode P4-00=2 Automatic determination P4-10 P4-02 P4-03 P4-05 P4-29 P4-01 Slow load inertia change 1 Automatic mode P4-00=3 Relatively fast load inertia change 2 Automatic mode P4-00=4 Fast load inertia change 3 Function Description 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 Automatic adjustment 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 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 followability Suppression of mechanical resonance When the mechanical rigidity is low, resonance resulted from shaft twisting and belt extension / contraction may produce vibration or noise, and makes improvement of gain setting impossible; in this case, a notch filter can be used to suppress resonance Manual adjustment Feedforward function Upon position control, speed feedforward can improve the responsiveness.
Acceleration feedforward can improve the responsiveness of speed control. External disturbance suppression function It functions to suppress change of the motor speed and improve the stability by changing the external disturbance torque and the addition amplitude load change estimation Friction torque compensation This function reduces the impact of mechanical friction, and provides dynamic friction compensation, viscous friction compensation and vertical shaft gravity compensation.