Changes for page 07 Adjustments

Summary

• Page properties (2 modified, 0 added, 0 removed)
• Attachments (0 modified, 16 added, 0 removed)
  • 20230515-10.png
  • 20230515-7.png
  • 20230515-8.png
  • 20230515-9.png
  • image-20230515140641-1.png
  • image-20230515140641-2.png
  • image-20230515140641-3.png
  • image-20230515140641-4.png
  • image-20230515140641-5.png
  • image-20230515140641-6.png
  • image-20230515140641-7.png
  • image-20230515140641-8.png
  • image-20230515140953-10.png
  • image-20230515140953-11.png
  • image-20230515140953-12.png
  • image-20230515140953-9.png

Details

Page properties

Author

...	...	@@ -1,1 +1,1 @@
1		-XWiki.Stone
	1	+XWiki.Karen

Content

...	...	@@ -3,21 +3,25 @@
3	3	The servo drive needs to make the motor faithfully operate in accordance with the instructions issued by the upper controller without delay as much as possible. In order to make the motor action closer to the instruction and maximize the mechanical performance, gain adjustment is required. The process of gain adjustment is shown in Figure 7-1.
4	4
5	5	(% style="text-align:center" %)
6		-[[image:image-20220608174118-1.png]]
	6	+(((
	7	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	8	+[[**Figure 7-1 Gain adjustment process**>>image:image-20220608174118-1.png||id="Iimage-20220608174118-1.png"]]
	9	+)))
7	7
8		-Figure 7-1 Gain adjustment process
9		-
10	10	The servo gain is composed of multiple sets of parameters such as position loop, speed loop, filter, load inertia ratio, etc., and they affect each other. In the process of setting the servo gain, the balance between the setting values of each parameter must be considered.
11	11
	13	+(% class="box infomessage" %)
	14	+(((
12	12	✎**Note: **Before adjusting the gain, it is recommended to perform a jog trial run first to ensure that the servo motor can operate normally! The gain adjustment process description is shown in the table below.
	16	+)))
13	13
14		-(% class="table-bordered" %)
15		-|(% colspan="3" style="text-align:center; vertical-align:middle" %)**Gain adjustment process**|(% style="text-align:center; vertical-align:middle" %)**Function**|(% style="text-align:center; vertical-align:middle" %)**Detailed chapter**
16		-|(% style="text-align:center; vertical-align:middle" %)1|(% colspan="2" style="text-align:center; vertical-align:middle" %)Online inertia recognition|(% style="text-align:center; vertical-align:middle" %)Use the host computer debugging platform software matched with the drive to automatically identify the load inertia ratio. With its own inertia identification function, the drive automatically calculates the load inertia ratio.|(% style="text-align:center; vertical-align:middle" %)__[[7.2>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/#HInertiarecognition]]__
17		-|(% style="text-align:center; vertical-align:middle" %)2|(% colspan="2" style="text-align:center; vertical-align:middle" %)Automatic gain adjustment|On the premise of setting the inertia ratio correctly, the drive automatically adjusts a set of matching gain parameters.|(% style="text-align:center; vertical-align:middle" %)__[[7.3.1>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/#HAutomaticgainadjustment]]__
18		-|(% rowspan="2" style="text-align:center; vertical-align:middle" %)3|(% rowspan="2" style="text-align:center; vertical-align:middle" %)Manual gain adjustment|(% style="text-align:center; vertical-align:middle" %)Basic gain|On the basis of automatic gain adjustment, if the expected effect is not achieved, manually fine-tune the gain to optimize the effect.|(% style="text-align:center; vertical-align:middle" %)__[[7.3.2>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/#HManualgainadjustment]]__
19		-|(% style="text-align:center; vertical-align:middle" %)Feedforward gain|The feedforward function is enabled to improve the followability.|(% style="text-align:center; vertical-align:middle" %)__[[7.3.3>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/#HFeedforwardgain]]__
20		-|(% style="text-align:center; vertical-align:middle" %)4|(% style="text-align:center; vertical-align:middle" %)Vibration suppression|(% style="text-align:center; vertical-align:middle" %)Mechanical resonance|The notch filter function is enabled to suppress mechanical resonance.|(% style="text-align:center; vertical-align:middle" %)__[[7.4.1>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/#HMechanicalresonancesuppressionmethods]]__
	18	+(% class="table-bordered" style="margin-right:auto" %)
	19	+|=(% colspan="3" style="text-align: center; vertical-align: middle;" %)**Gain adjustment process**|=(% style="text-align: center; vertical-align: middle;" %)**Function**|=(% style="text-align: center; vertical-align: middle;" %)**Detailed chapter**
	20	+|(% style="text-align:center; vertical-align:middle" %)1|(% colspan="2" style="text-align:center; vertical-align:middle" %)Online inertia recognition|(% style="text-align:center; vertical-align:middle" %)Use the host computer debugging platform software matched with the drive to automatically identify the load inertia ratio. With its own inertia identification function, the drive automatically calculates the load inertia ratio.|(% style="text-align:center; vertical-align:middle" %)__[[7.2>>||anchor="HInertiarecognition"]]__
	21	+|(% style="text-align:center; vertical-align:middle" %)2|(% colspan="2" style="text-align:center; vertical-align:middle" %)Automatic gain adjustment|On the premise of setting the inertia ratio correctly, the drive automatically adjusts a set of matching gain parameters.|(% style="text-align:center; vertical-align:middle" %)__[[7.3.1>>||anchor="HAutomaticgainadjustment"]]__
	22	+|(% rowspan="2" style="text-align:center; vertical-align:middle" %)3|(% rowspan="2" style="text-align:center; vertical-align:middle" %)Manual gain adjustment|(% style="text-align:center; vertical-align:middle" %)Basic gain|On the basis of automatic gain adjustment, if the expected effect is not achieved, manually fine-tune the gain to optimize the effect.|(% style="text-align:center; vertical-align:middle" %)__[[7.3.2>>||anchor="HManualgainadjustment"]]__
	23	+|(% style="text-align:center; vertical-align:middle" %)Feedforward gain|The feedforward function is enabled to improve the followability.|(% style="text-align:center; vertical-align:middle" %)__[[7.3.3>>||anchor="HFeedforwardgain"]]__
	24	+|(% style="text-align:center; vertical-align:middle" %)4|(% style="text-align:center; vertical-align:middle" %)Vibration suppression|(% style="text-align:center; vertical-align:middle" %)Mechanical resonance|The notch filter function is enabled to suppress mechanical resonance.|(% style="text-align:center; vertical-align:middle" %)__[[7.4.1>>||anchor="HMechanicalresonancesuppressionmethods"]]__
21	21
22	22	Table 7-1 Description of gain adjustment process
23	23
...	...	@@ -26,11 +26,11 @@
26	26	Load inertia ratio P03-01 refers to:
27	27
28	28	(% style="text-align:center" %)
29		-[[image:image-20220611152902-1.png]]
	33	+[[image:image-20220611152902-1.png||class="img-thumbnail"]]
30	30
31	31	The load inertia ratio is an important parameter of the servo system, and setting of the load inertia ratio correctly helps to quickly complete the debugging. The load inertia ratio could be set manually, and online load inertia recognition could be performed through the host computer debugging software.
32	32
33		-|(((
	37	+(% class="warning" %)|(((
34	34	(% style="text-align:center" %)
35	35	[[image:image-20220611152918-2.png]]
36	36	)))
...	...	@@ -37,65 +37,58 @@
37	37	|(((
38	38	**Before performing online load inertia recognition, the following conditions should be met:**
39	39
40		-The maximum speed of the motor should be greater than 300rpm;
	44	+* The maximum speed of the motor should be greater than 300rpm;
	45	+* The actual load inertia ratio is between 0.00 and 100.00;
	46	+* The load torque is relatively stable, and the load cannot change drastically during the measurement process;
	47	+* The backlash of the load transmission mechanism is within a certain range;
41	41
42		-The actual load inertia ratio is between 0.00 and 100.00;
43		-
44		-The load torque is relatively stable, and the load cannot change drastically during the measurement process;
45		-
46		-The backlash of the load transmission mechanism is within a certain range;
47		-
48	48	**The motor's runable stroke should meet two requirements:**
49	49
50		-There is a movable stroke of more than 1 turn in both forward and reverse directions between the mechanical limit switches.
51		-
52		-Before performing online inertia recognition, please make sure that the limit switch has been installed on the machine, and that the motor has a movable stroke of more than 1 turn each in the forward and reverse directions to prevent overtravel during the inertia recognition process and cause accidents.
53		-
54		-Meet the requirement of inertia recognition turns P03-05.
55		-
56		-Make sure that the motor's runable stroke at the stop position is greater than the set value of the number of inertia recognition circles P03-05, otherwise the maximum speed of inertia recognition P03-06 should be appropriately reduced.
57		-
58		-During the automatic load inertia recognition process, if vibration occurs, the load inertia recognition should be stopped immediately.
	51	+* There is a movable stroke of more than 1 turn in both forward and reverse directions between the mechanical limit switches.
	52	+* Before performing online inertia recognition, please make sure that the limit switch has been installed on the machine, and that the motor has a movable stroke of more than 1 turn each in the forward and reverse directions to prevent overtravel during the inertia recognition process and cause accidents.
	53	+* Meet the requirement of inertia recognition turns P03-05.
	54	+* Make sure that the motor's runable stroke at the stop position is greater than the set value of the number of inertia recognition circles P03-05, otherwise the maximum speed of inertia recognition P03-06 should be appropriately reduced.
	55	+* During the automatic load inertia recognition process, if vibration occurs, the load inertia recognition should be stopped immediately.
59	59	)))
60	60
61	61	The related function codes are shown in the table below.
62	62
63	63	(% class="table-bordered" %)
64		-|(% style="text-align:center; vertical-align:middle; width:117px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:136px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
	61	+|=(% scope="row" style="text-align: center; vertical-align: middle; width: 117px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 173px;" %)(((
65	65	**Setting method**
66		-)))|(% style="text-align:center; vertical-align:middle; width:213px" %)(((
	63	+)))|=(% style="text-align: center; vertical-align: middle; width: 168px;" %)(((
67	67	**Effective time**
68		-)))|(% style="text-align:center; vertical-align:middle; width:117px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:118px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:276px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
69		-|(% style="text-align:center; vertical-align:middle; width:117px" %)P03-01|(% style="text-align:center; vertical-align:middle; width:136px" %)Load inertia ratio|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
	65	+)))|=(% style="text-align: center; vertical-align: middle; width: 125px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 118px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 276px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle;" %)**Unit**
	66	+|=(% style="text-align: center; vertical-align: middle; width: 117px;" %)P03-01|(% style="text-align:center; vertical-align:middle; width:136px" %)Load inertia ratio|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
70	70	Operation setting
71		-)))|(% style="text-align:center; vertical-align:middle; width:213px" %)(((
	68	+)))|(% style="text-align:center; vertical-align:middle; width:168px" %)(((
72	72	Effective immediately
73		-)))|(% style="text-align:center; vertical-align:middle; width:117px" %)300|(% style="text-align:center; vertical-align:middle; width:118px" %)100 to 10000|(% style="width:276px" %)Set load inertia ratio, 0.00 to 100.00 times|(% style="text-align:center; vertical-align:middle" %)0.01
74		-|(% style="text-align:center; vertical-align:middle; width:117px" %)P03-05|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
	70	+)))|(% style="text-align:center; vertical-align:middle; width:125px" %)300|(% style="text-align:center; vertical-align:middle; width:118px" %)100 to 10000|(% style="width:276px" %)Set load inertia ratio, 0.00 to 100.00 times|(% style="text-align:center; vertical-align:middle" %)0.01
	71	+|=(% style="text-align: center; vertical-align: middle; width: 117px;" %)P03-05|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
75	75	Inertia recognition turns
76	76	)))|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
77	77	Shutdown setting
78		-)))|(% style="text-align:center; vertical-align:middle; width:213px" %)(((
	75	+)))|(% style="text-align:center; vertical-align:middle; width:168px" %)(((
79	79	Effective immediately
80		-)))|(% style="text-align:center; vertical-align:middle; width:117px" %)2|(% style="text-align:center; vertical-align:middle; width:118px" %)1 to 20|(% style="width:276px" %)Offline load inertia recognition process, motor rotation number setting|(% style="text-align:center; vertical-align:middle" %)circle
81		-|(% style="text-align:center; vertical-align:middle; width:117px" %)P03-06|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
	77	+)))|(% style="text-align:center; vertical-align:middle; width:125px" %)2|(% style="text-align:center; vertical-align:middle; width:118px" %)1 to 20|(% style="width:276px" %)Offline load inertia recognition process, motor rotation number setting|(% style="text-align:center; vertical-align:middle" %)circle
	78	+|=(% style="text-align: center; vertical-align: middle; width: 117px;" %)P03-06|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
82	82	Inertia recognition maximum speed
83	83	)))|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
84	84	Shutdown setting
85		-)))|(% style="text-align:center; vertical-align:middle; width:213px" %)(((
	82	+)))|(% style="text-align:center; vertical-align:middle; width:168px" %)(((
86	86	Effective immediately
87		-)))|(% style="text-align:center; vertical-align:middle; width:117px" %)1000|(% style="text-align:center; vertical-align:middle; width:118px" %)300 to 2000|(% style="width:276px" %)(((
	84	+)))|(% style="text-align:center; vertical-align:middle; width:125px" %)1000|(% style="text-align:center; vertical-align:middle; width:118px" %)300 to 2000|(% style="width:276px" %)(((
88	88	Set the allowable maximum motor speed instruction in offline inertia recognition mode.
89	89
90	90	The faster the speed during inertia recognition, the more accurate the recognition result will be. Usually, you can keep the default value.
91	91	)))|(% style="text-align:center; vertical-align:middle" %)rpm
92		-|(% style="text-align:center; vertical-align:middle; width:117px" %)P03-07|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
	89	+|=(% style="text-align: center; vertical-align: middle; width: 117px;" %)P03-07|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
93	93	Parameter recognition rotation direction
94	94	)))|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
95	95	Shutdown setting
96		-)))|(% style="text-align:center; vertical-align:middle; width:213px" %)(((
	93	+)))|(% style="text-align:center; vertical-align:middle; width:168px" %)(((
97	97	Effective immediately
98		-)))|(% style="text-align:center; vertical-align:middle; width:117px" %)0|(% style="text-align:center; vertical-align:middle; width:118px" %)0 to 2|(% style="width:276px" %)(((
	95	+)))|(% style="text-align:center; vertical-align:middle; width:125px" %)0|(% style="text-align:center; vertical-align:middle; width:118px" %)0 to 2|(% style="width:276px" %)(((
99	99	0: Forward and reverse reciprocating rotation
100	100
101	101	1: Forward one-way rotation
...	...	@@ -113,23 +113,23 @@
113	113
114	114	The servo supports automatic gain adjustment and manual gain adjustment. It is recommended to use automatic gain adjustment first.
115	115
116		-== **Automatic gain adjustment** ==
	113	+== Automatic gain adjustment ==
117	117
118	118	Automatic gain adjustment means that through the rigidity level selection function P03-02, the servo drive will automatically generate a set of matching gain parameters to meet the requirements of rapidity and stability.
119	119
120	120	The rigidity of the servo refers to the ability of the motor rotor to resist load inertia, that is, the self-locking ability of the motor rotor. The stronger the servo rigidity, the larger the corresponding position loop gain and speed loop gain, and the faster the response speed of the system.
121	121
122		-(% class="table-bordered" %)
123		-|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611152630-1.png]]
124		-|(% style="text-align:center; vertical-align:middle" %)Before adjusting the rigidity grade, set the appropriate load inertia ratio P03-01 correctly.
	119	+(% class="table-bordered" style="margin-right:auto" %)
	120	+(% class="warning" %)|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611152630-1.png]]
	121	+|(% style="text-align:left; vertical-align:middle" %)Before adjusting the rigidity grade, set the appropriate load inertia ratio P03-01 correctly.
125	125
126	126	The value range of the rigidity grade is between 0 and 31. Grade 0 corresponds to the weakest rigidity and minimum gain, and grade 31 corresponds to the strongest rigidity and maximum gain. According to different load types, the values in the table below are for reference.
127	127
128	128	(% class="table-bordered" %)
129		-|(% style="text-align:center; vertical-align:middle" %)**Rigidity grade**|(% style="text-align:center; vertical-align:middle" %)**Load mechanism type**
130		-|(% style="text-align:center; vertical-align:middle" %)Grade 4 to 8|(% style="text-align:center; vertical-align:middle" %)Some large machinery
131		-|(% style="text-align:center; vertical-align:middle" %)Grade 8 to 15|(% style="text-align:center; vertical-align:middle" %)Low rigidity applications such as belts
132		-|(% style="text-align:center; vertical-align:middle" %)Grade 15 to 20|(% style="text-align:center; vertical-align:middle" %)High rigidity applications such as ball screw and direct connection
	126	+|=(% scope="row" style="text-align: center; vertical-align: middle;" %)**Rigidity grade**|=(% style="text-align: center; vertical-align: middle;" %)**Load mechanism type**
	127	+|=(% style="text-align: center; vertical-align: middle;" %)Grade 4 to 8|(% style="text-align:center; vertical-align:middle" %)Some large machinery
	128	+|=(% style="text-align: center; vertical-align: middle;" %)Grade 8 to 15|(% style="text-align:center; vertical-align:middle" %)Low rigidity applications such as belts
	129	+|=(% style="text-align: center; vertical-align: middle;" %)Grade 15 to 20|(% style="text-align:center; vertical-align:middle" %)High rigidity applications such as ball screw and direct connection
133	133
134	134	Table 7-3 Experience reference of rigidity grade
135	135
...	...	@@ -146,7 +146,7 @@
146	146	* Step7 After the parameter measurement is completed, the host computer debugging software will pop up a confirmation window for parameter writing and saving.
147	147
148	148	(% class="table-bordered" %)
149		-|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611152634-2.png]]
	146	+(% class="warning" %)|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611152634-2.png]]
150	150	|(((
151	151	✎There may be a short mechanical whistling sound during the test. Generally, the servo will automatically stop the test. If it does not stop automatically or in other abnormal situations, you can click the "Servo Off" button on the interface to turn off the servo, or power off the machine!
152	152
...	...	@@ -154,26 +154,24 @@
154	154	)))
155	155
156	156	(% class="table-bordered" %)
157		-|(% style="text-align:center; vertical-align:middle; width:121px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:73px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
	154	+|=(% scope="row" style="text-align: center; vertical-align: middle; width: 84px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 103px;" %)(((
158	158	**Setting method**
159		-)))|(% style="text-align:center; vertical-align:middle; width:168px" %)(((
	156	+)))|=(% style="text-align: center; vertical-align: middle; width: 105px;" %)(((
160	160	**Effective time**
161		-)))|(% style="text-align:center; vertical-align:middle; width:134px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:85px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:430px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
162		-|(% style="text-align:center; vertical-align:middle; width:121px" %)P03-03|(% style="text-align:center; vertical-align:middle; width:73px" %)Self-adjusting mode selection|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
	158	+)))|=(% style="text-align: center; vertical-align: middle; width: 87px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 83px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 431px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle;" %)**Unit**
	159	+|=(% style="text-align: center; vertical-align: middle; width: 84px;" %)P03-03|(% style="text-align:center; vertical-align:middle; width:138px" %)Self-adjusting mode selection|(% style="text-align:center; vertical-align:middle; width:103px" %)(((
163	163	Operation setting
164		-)))|(% style="text-align:center; vertical-align:middle; width:168px" %)(((
	161	+)))|(% style="text-align:center; vertical-align:middle; width:105px" %)(((
165	165	Effective immediately
166		-)))|(% style="text-align:center; vertical-align:middle; width:134px" %)0|(% style="text-align:center; vertical-align:middle; width:85px" %)0 to 2|(% style="width:430px" %)(((
167		-0: Rigidity grade self-adjusting mode. Position loop gain, speed loop gain, speed loop integral time constant, torque filter parameter settings are automatically adjusted according to the rigidity grade setting.
168		-
169		-1: Manual setting; you need to manually set the position loop gain, speed loop gain, speed loop integral time constant, torque filter parameter setting
170		-
171		-2: Online automatic parameter self-adjusting mode (Not implemented yet)
	163	+)))|(% style="text-align:center; vertical-align:middle; width:87px" %)0|(% style="text-align:center; vertical-align:middle; width:83px" %)0 to 2|(% style="width:431px" %)(((
	164	+* 0: Rigidity grade self-adjusting mode. Position loop gain, speed loop gain, speed loop integral time constant, torque filter parameter settings are automatically adjusted according to the rigidity grade setting.
	165	+* 1: Manual setting; you need to manually set the position loop gain, speed loop gain, speed loop integral time constant, torque filter parameter setting
	166	+* 2: Online automatic parameter self-adjusting mode (Not implemented yet)
172	172	)))|(% style="text-align:center; vertical-align:middle" %)-
173	173
174	174	Table 7-4 Details of self-adjusting mode selection parameters
175	175
176		-== **Manual gain adjustment** ==
	171	+== Manual gain adjustment ==
177	177
178	178	When the servo automatic gain adjustment fails to achieve the desired result, you can manually fine-tune the gain to achieve better results.
179	179
...	...	@@ -180,137 +180,137 @@
180	180	The servo system consists of three control loops, from the outside to the inside are the position loop, the speed loop and the current loop. The basic control block diagram is shown as below.
181	181
182	182	(% style="text-align:center" %)
183		-[[image:image-20220608174209-2.png]]
	178	+(((
	179	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	180	+[[**Figure 7-2 Basic block diagram of servo loop gain**>>image:image-20220608174209-2.png||id="Iimage-20220608174209-2.png"]]
	181	+)))
184	184
185		-Figure 7-2 Basic block diagram of servo loop gain
186		-
187	187	The more the inner loop is, the higher the responsiveness is required. Failure to comply with this principle may lead to system instability!
188	188
189	189	The default current loop gain of the servo drive has ensured sufficient responsiveness. Generally, no adjustment is required. Only the position loop gain, speed loop gain and other auxiliary gains need to be adjusted.
190	190
191		-This servo drive has two sets of gain parameters for position loop and speed loop. The user can switch the two sets of gain parameters according to the setting value of P02-07 the 2nd gain switching mode. The parameters are are below.
	187	+This servo drive has two sets of gain parameters for position loop and speed loop. The user can switch the two sets of gain parameters according to the setting value of P02-07 the 2nd gain switching mode. The parameters are below.
192	192
193	193	(% class="table-bordered" %)
194		-|(% style="text-align:center; vertical-align:middle; width:450px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:751px" %)**Name**
195		-|(% style="text-align:center; vertical-align:middle; width:450px" %)P02-01|(% style="width:751px" %)The 1st position loop gain
196		-|(% style="text-align:center; vertical-align:middle; width:450px" %)P02-02|(% style="width:751px" %)The 1st speed loop gain
197		-|(% style="text-align:center; vertical-align:middle; width:450px" %)P02-03|(% style="width:751px" %)The 1st speed loop integral time constant
198		-|(% style="text-align:center; vertical-align:middle; width:450px" %)P02-04|(% style="width:751px" %)The 2nd position loop gain
199		-|(% style="text-align:center; vertical-align:middle; width:450px" %)P02-05|(% style="width:751px" %)The 2nd speed loop gain
200		-|(% style="text-align:center; vertical-align:middle; width:450px" %)P02-06|(% style="width:751px" %)The 2nd speed loop integral time constant
201		-|(% style="text-align:center; vertical-align:middle; width:450px" %)P04-04|(% style="width:751px" %)Torque filter time constant
	190	+|=(% scope="row" style="text-align: center; vertical-align: middle; width: 450px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 751px;" %)**Name**
	191	+|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-01|(% style="width:751px" %)The 1st position loop gain
	192	+|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-02|(% style="width:751px" %)The 1st speed loop gain
	193	+|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-03|(% style="width:751px" %)The 1st speed loop integral time constant
	194	+|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-04|(% style="width:751px" %)The 2nd position loop gain
	195	+|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-05|(% style="width:751px" %)The 2nd speed loop gain
	196	+|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-06|(% style="width:751px" %)The 2nd speed loop integral time constant
	197	+|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P04-04|(% style="width:751px" %)Torque filter time constant
202	202
203		-**(1) Speed loop gain**
	199	+**Speed loop gain**
204	204
205	205	In the case of no vibration or noise in the mechanical system, the larger the speed loop gain setting value, the better the response of servo system and the better the speed followability. When noise occurs in the system, reduce the speed loop gain. The related function codes are shown as below.
206	206
207	207	(% class="table-bordered" %)
208		-|(% style="text-align:center; vertical-align:middle; width:120px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:151px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:170px" %)(((
	204	+|=(% scope="row" style="text-align: center; vertical-align: middle; width: 120px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 163px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 122px;" %)(((
209	209	**Setting method**
210		-)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((
	206	+)))|=(% style="text-align: center; vertical-align: middle; width: 128px;" %)(((
211	211	**Effective time**
212		-)))|(% style="text-align:center; vertical-align:middle; width:112px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:99px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:321px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
213		-|(% style="text-align:center; vertical-align:middle; width:120px" %)P02-02|(% style="text-align:center; vertical-align:middle; width:151px" %)1st speed loop gain|(% style="text-align:center; vertical-align:middle; width:170px" %)(((
	208	+)))|=(% style="text-align: center; vertical-align: middle; width: 103px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 107px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 321px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle;" %)**Unit**
	209	+|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P02-02|(% style="text-align:center; vertical-align:middle; width:163px" %)1st speed loop gain|(% style="text-align:center; vertical-align:middle; width:122px" %)(((
214	214	Operation setting
215		-)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((
	211	+)))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
216	216	Effective immediately
217		-)))|(% style="text-align:center; vertical-align:middle; width:112px" %)65|(% style="text-align:center; vertical-align:middle; width:99px" %)0 to 35000|(% style="width:321px" %)Set speed loop proportional gain to determine the responsiveness of speed loop.|(% style="text-align:center; vertical-align:middle" %)0.1Hz
218		-|(% style="text-align:center; vertical-align:middle; width:120px" %)P02-05|(% style="text-align:center; vertical-align:middle; width:151px" %)2nd speed loop gain|(% style="text-align:center; vertical-align:middle; width:170px" %)(((
	213	+)))|(% style="text-align:center; vertical-align:middle; width:103px" %)65|(% style="text-align:center; vertical-align:middle; width:107px" %)0 to 35000|(% style="width:321px" %)Set speed loop proportional gain to determine the responsiveness of speed loop.|(% style="text-align:center; vertical-align:middle" %)0.1Hz
	214	+|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P02-05|(% style="text-align:center; vertical-align:middle; width:163px" %)2nd speed loop gain|(% style="text-align:center; vertical-align:middle; width:122px" %)(((
219	219	Operation setting
220		-)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((
	216	+)))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
221	221	Effective immediately
222		-)))|(% style="text-align:center; vertical-align:middle; width:112px" %)65|(% style="text-align:center; vertical-align:middle; width:99px" %)0 to 35000|(% style="width:321px" %)Set speed loop proportional gain to determine the responsiveness of speed loop.|(% style="text-align:center; vertical-align:middle" %)0.1Hz
	218	+)))|(% style="text-align:center; vertical-align:middle; width:103px" %)65|(% style="text-align:center; vertical-align:middle; width:107px" %)0 to 35000|(% style="width:321px" %)Set speed loop proportional gain to determine the responsiveness of speed loop.|(% style="text-align:center; vertical-align:middle" %)0.1Hz
223	223
224	224	Table 7-5 Speed loop gain parameters
225	225
226	226	(% style="text-align:center" %)
227		-[[image:image-20220706152743-1.jpeg]]
	223	+(((
	224	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	225	+[[**Figure 7-3 Speed loop gain effect illustration**>>image:image-20220706152743-1.jpeg||id="Iimage-20220706152743-1.jpeg"]]
	226	+)))
228	228
229		-Figure 7-3 Speed loop gain effect illustration
	228	+**Speed loop integral time constant**
230	230
231		-**(2) Speed loop integral time constant**
232		-
233	233	The speed loop integral time constant is used to eliminate the speed loop deviation. Decreasing the integral time constant of the speed loop can increase the speed of the speed following. If the set value is too small, is will easily cause speed overshoot or vibration. When the time constant is set too large, the integral action will be weakened, resulting in a deviation of the speed loop. Related function codes are shown as below.
234	234
235	235	(% class="table-bordered" %)
236		-|(% style="text-align:center; vertical-align:middle; width:126px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:185px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:132px" %)(((
	233	+|=(% scope="row" style="text-align: center; vertical-align: middle; width: 98px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 173px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 122px;" %)(((
237	237	**Setting method**
238		-)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
	235	+)))|=(% style="text-align: center; vertical-align: middle; width: 112px;" %)(((
239	239	**Effective time**
240		-)))|(% style="text-align:center; vertical-align:middle; width:114px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:102px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:335px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
241		-|(% style="text-align:center; vertical-align:middle; width:126px" %)P02-03|(% style="text-align:center; vertical-align:middle; width:185px" %)(((
	237	+)))|=(% style="text-align: center; vertical-align: middle; width: 109px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 114px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 278px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle; width: 78px;" %)**Unit**
	238	+|=(% style="text-align: center; vertical-align: middle; width: 98px;" %)P02-03|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
242	242	1st speed loop integral time constant
243		-)))|(% style="text-align:center; vertical-align:middle; width:132px" %)(((
	240	+)))|(% style="text-align:center; vertical-align:middle; width:122px" %)(((
244	244	Operation setting
245		-)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
	242	+)))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
246	246	Effective immediately
247		-)))|(% style="text-align:center; vertical-align:middle; width:114px" %)1000|(% style="text-align:center; vertical-align:middle; width:102px" %)100 to 65535|(% style="width:335px" %)Set the speed loop integral constant. The smaller the set value, the stronger the integral effect.|(% style="text-align:center; vertical-align:middle" %)(((
248		-0.1
249		-
250		-ms
	244	+)))|(% style="text-align:center; vertical-align:middle; width:109px" %)1000|(% style="text-align:center; vertical-align:middle; width:114px" %)100 to 65535|(% style="width:278px" %)Set the speed loop integral constant. The smaller the set value, the stronger the integral effect.|(% style="text-align:center; vertical-align:middle; width:78px" %)(((
	245	+0.1ms
251	251	)))
252		-|(% style="text-align:center; vertical-align:middle; width:126px" %)P02-06|(% style="text-align:center; vertical-align:middle; width:185px" %)(((
	247	+|=(% style="text-align: center; vertical-align: middle; width: 98px;" %)P02-06|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
253	253	2nd speed loop integral time constant
254		-)))|(% style="text-align:center; vertical-align:middle; width:132px" %)(((
	249	+)))|(% style="text-align:center; vertical-align:middle; width:122px" %)(((
255	255	Operation setting
256		-)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
	251	+)))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
257	257	Effective immediately
258		-)))|(% style="text-align:center; vertical-align:middle; width:114px" %)1000|(% style="text-align:center; vertical-align:middle; width:102px" %)0 to 65535|(% style="width:335px" %)Set the speed loop integral constant. The smaller the set value, the stronger the integral effect.|(% style="text-align:center; vertical-align:middle" %)(((
259		-0.1
260		-
261		-ms
	253	+)))|(% style="text-align:center; vertical-align:middle; width:109px" %)1000|(% style="text-align:center; vertical-align:middle; width:114px" %)0 to 65535|(% style="width:278px" %)Set the speed loop integral constant. The smaller the set value, the stronger the integral effect.|(% style="text-align:center; vertical-align:middle; width:78px" %)(((
	254	+0.1ms
262	262	)))
263	263
264	264	Table 7-6 Speed loop integral time constant parameters
265	265
266	266	(% style="text-align:center" %)
267		-[[image:image-20220706153140-2.jpeg]]
	260	+(((
	261	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	262	+[[**Figure 7-4 Speed loop integral time constant effect illustration**>>image:image-20220706153140-2.jpeg||id="Iimage-20220706153140-2.jpeg"]]
	263	+)))
268	268
269		-Figure 7-4 Speed loop integral time constant effect illustration
	265	+**Position loop gain**
270	270
271		-**(3) Position loop gain**
272		-
273	273	Determine the highest frequency of the position instruction that the position loop can follow the change. Increasing this parameter can speed up the positioning time and improve the ability of the motor to resist external disturbances when the motor is stationary. However, if the setting value is too large, the system may be unstable and oscillate. The related function codes are shown as below.
274	274
275	275	(% class="table-bordered" %)
276		-|(% style="text-align:center; vertical-align:middle; width:113px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:164px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:134px" %)(((
	270	+|=(% scope="row" style="text-align: center; vertical-align: middle; width: 95px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 174px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)(((
277	277	**Setting method**
278		-)))|(% style="text-align:center; vertical-align:middle; width:167px" %)(((
	272	+)))|=(% style="text-align: center; vertical-align: middle; width: 114px;" %)(((
279	279	**Effective time**
280		-)))|(% style="text-align:center; vertical-align:middle; width:120px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:94px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:355px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
281		-|(% style="text-align:center; vertical-align:middle; width:113px" %)P02-01|(% style="text-align:center; vertical-align:middle; width:164px" %)1st position loop gain|(% style="text-align:center; vertical-align:middle; width:134px" %)(((
	274	+)))|=(% style="text-align: center; vertical-align: middle; width: 79px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 91px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 355px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle;" %)**Unit**
	275	+|=(% style="text-align: center; vertical-align: middle; width: 95px;" %)P02-01|(% style="text-align:center; vertical-align:middle; width:174px" %)1st position loop gain|(% style="text-align:center; vertical-align:middle; width:120px" %)(((
282	282	Operation setting
283		-)))|(% style="text-align:center; vertical-align:middle; width:167px" %)(((
	277	+)))|(% style="text-align:center; vertical-align:middle; width:114px" %)(((
284	284	Effective immediately
285		-)))|(% style="text-align:center; vertical-align:middle; width:120px" %)400|(% style="text-align:center; vertical-align:middle; width:94px" %)0 to 6200|(% style="width:355px" %)Set position loop proportional gain to determine the responsiveness of position control system.|(% style="text-align:center; vertical-align:middle" %)0.1Hz
286		-|(% style="text-align:center; vertical-align:middle; width:113px" %)P02-04|(% style="text-align:center; vertical-align:middle; width:164px" %)2nd position loop gain|(% style="text-align:center; vertical-align:middle; width:134px" %)(((
	279	+)))|(% style="text-align:center; vertical-align:middle; width:79px" %)400|(% style="text-align:center; vertical-align:middle; width:91px" %)0 to 6200|(% style="width:355px" %)Set position loop proportional gain to determine the responsiveness of position control system.|(% style="text-align:center; vertical-align:middle" %)0.1Hz
	280	+|=(% style="text-align: center; vertical-align: middle; width: 95px;" %)P02-04|(% style="text-align:center; vertical-align:middle; width:174px" %)2nd position loop gain|(% style="text-align:center; vertical-align:middle; width:120px" %)(((
287	287	Operation setting
288		-)))|(% style="text-align:center; vertical-align:middle; width:167px" %)(((
	282	+)))|(% style="text-align:center; vertical-align:middle; width:114px" %)(((
289	289	Effective immediately
290		-)))|(% style="text-align:center; vertical-align:middle; width:120px" %)35|(% style="text-align:center; vertical-align:middle; width:94px" %)0 to 6200|(% style="width:355px" %)Set position loop proportional gain to determine the responsiveness of position control system.|(% style="text-align:center; vertical-align:middle" %)0.1Hz
	284	+)))|(% style="text-align:center; vertical-align:middle; width:79px" %)35|(% style="text-align:center; vertical-align:middle; width:91px" %)0 to 6200|(% style="width:355px" %)Set position loop proportional gain to determine the responsiveness of position control system.|(% style="text-align:center; vertical-align:middle" %)0.1Hz
291	291
292	292	Table 7-7 Position loop gain parameters
293	293
294	294	(% style="text-align:center" %)
295		-[[image:image-20220706153656-3.jpeg]]
	289	+(((
	290	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	291	+[[**Figure 7-5 Position loop gain effect illustration**>>image:image-20220706153656-3.jpeg||id="Iimage-20220706153656-3.jpeg"]]
	292	+)))
296	296
297		-Figure 7-5 Position loop gain effect illustration
	294	+**Torque instruction filter time**
298	298
299		-**(4) Torque instruction filter time**
300		-
301	301	Selecting an appropriate torque filter time constant could suppress mechanical resonance. The larger the value of this parameter, the stronger the suppression ability. If the setting value is too large, it will decrease the current loop response frequency and cause needle movement. The related function codes are shown as below.
302	302
303	303	(% class="table-bordered" %)
304		-|(% style="text-align:center; vertical-align:middle; width:117px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:200px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:141px" %)(((
	299	+|=(% scope="row" style="text-align: center; vertical-align: middle; width: 117px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 200px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)(((
305	305	**Setting method**
306		-)))|(% style="text-align:center; vertical-align:middle; width:180px" %)(((
	301	+)))|=(% style="text-align: center; vertical-align: middle; width: 127px;" %)(((
307	307	**Effective time**
308		-)))|(% style="text-align:center; vertical-align:middle; width:139px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:359px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
309		-|(% style="text-align:center; vertical-align:middle; width:117px" %)P04-04|(% style="text-align:center; vertical-align:middle; width:200px" %)Torque filter time constant|(% style="text-align:center; vertical-align:middle; width:141px" %)(((
	303	+)))|=(% style="text-align: center; vertical-align: middle; width: 79px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 371px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle;" %)**Unit**
	304	+|=(% style="text-align: center; vertical-align: middle; width: 117px;" %)P04-04|(% style="text-align:center; vertical-align:middle; width:200px" %)Torque filter time constant|(% style="text-align:center; vertical-align:middle; width:120px" %)(((
310	310	Operation setting
311		-)))|(% style="text-align:center; vertical-align:middle; width:180px" %)(((
	306	+)))|(% style="text-align:center; vertical-align:middle; width:127px" %)(((
312	312	Effective immediately
313		-)))|(% style="text-align:center; vertical-align:middle; width:139px" %)50|(% style="width:359px" %)This parameter is automatically set when “self-adjustment mode selection” is selected as 1 or 2|(% style="text-align:center; vertical-align:middle" %)0.01ms
	308	+)))|(% style="text-align:center; vertical-align:middle; width:79px" %)50|(% style="width:371px" %)This parameter is automatically set when “self-adjustment mode selection” is selected as 1 or 2|(% style="text-align:center; vertical-align:middle" %)0.01ms
314	314
315	315	Table 7-8 Details of torque filter time constant parameters
316	316
...	...	@@ -318,137 +318,109 @@
318	318
319	319	Speed feedforward could be used in position control mode and full closed-loop function. It could improve the response to the speed instruction and reduce the position deviation with fixed speed.
320	320
321		-Speed feedforward parameters are shown in __[[Table 7-9>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/#HFeedforwardgain]]__. Torque feedforward parameters are shown in __[[Table 7-10>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/#HFeedforwardgain]]__.
	316	+Speed feedforward parameters are shown in __Table 7-9__. Torque feedforward parameters are shown in __Table 7-10__.
322	322
323	323	Torque feedforward could improve the response to the torque instruction and reduce the position deviation with fixed acceleration and deceleration.
324	324
325	325	(% class="table-bordered" %)
326		-|(% style="text-align:center; vertical-align:middle; width:125px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:330px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:746px" %)**Adjustment description**
327		-|(% style="text-align:center; vertical-align:middle; width:125px" %)P02-09|(% style="text-align:center; vertical-align:middle; width:330px" %)Speed feedforward gain|(% rowspan="2" style="width:746px" %)(((
	321	+|=(% scope="row" style="text-align: center; vertical-align: middle; width: 125px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 330px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 746px;" %)**Adjustment description**
	322	+|=(% style="text-align: center; vertical-align: middle; width: 125px;" %)P02-09|(% style="text-align:center; vertical-align:middle; width:330px" %)Speed feedforward gain|(% rowspan="2" style="width:746px" %)(((
328	328	When the speed feedforward filter is set to 50 (0.5 ms), gradually increase the speed feedforward gain, and the speed feedforward will take effect. The position deviation during operation at a certain speed will be reduced according to the value of speed feedforward gain as the formula below.
329	329
330	330	Position deviation (instruction unit) = instruction speed[instruction unit/s]÷position loop gain [1/s]×(100－speed feedforward gain [%])÷100
331	331	)))
332		-|(% style="text-align:center; vertical-align:middle; width:125px" %)P02-10|(% style="text-align:center; vertical-align:middle; width:330px" %)Speed feedforward filtering time constant
	327	+|=(% style="text-align: center; vertical-align: middle; width: 125px;" %)P02-10|(% style="text-align:center; vertical-align:middle; width:330px" %)Speed feedforward filtering time constant
333	333
334	334	Table 7-9 Speed feedforward parameters
335	335
336		-[[image:image-20220706155307-4.jpeg]]
	331	+(% style="text-align:center" %)
	332	+(((
	333	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	334	+[[**Figure 7-6 Speed feedforward parameters effect illustration**>>image:image-20220706155307-4.jpeg||height="119" id="Iimage-20220706155307-4.jpeg" width="835"]]
	335	+)))
337	337
338		-Figure 7-6 Speed feedforward parameters effect illustration
339	339
340	340	(% class="table-bordered" %)
341		-|(% style="text-align:center; vertical-align:middle; width:125px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:330px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:746px" %)**Adjustment description**
342		-|(% style="text-align:center; vertical-align:middle; width:125px" %)P02-11|(% style="text-align:center; vertical-align:middle; width:330px" %)Torque feedforward gain|(% rowspan="2" style="width:746px" %)Increase the torque feedforward gain because the position deviation can be close to 0 during certain acceleration and deceleration. Under the ideal condition of external disturbance torque not operating, when driving in the trapezoidal speed model, the position deviation can be close to 0 in the entire action interval. In fact, there must be external disturbance torque, so the position deviation cannot be zero. In addition, like the speed feedforward, although the larger the constant of the torque feedforward filter, the smaller the action sound, but the greater the position deviation of the acceleration change point.
343		-|(% style="text-align:center; vertical-align:middle; width:125px" %)P02-12|(% style="text-align:center; vertical-align:middle; width:330px" %)Torque feedforward filtering time constant
	339	+|=(% scope="row" style="text-align: center; vertical-align: middle; width: 125px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 259px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 690px;" %)**Adjustment description**
	340	+|=(% style="text-align: center; vertical-align: middle; width: 125px;" %)P02-11|(% style="text-align:center; vertical-align:middle; width:259px" %)Torque feedforward gain|(% rowspan="2" style="width:690px" %)Increase the torque feedforward gain because the position deviation can be close to 0 during certain acceleration and deceleration. Under the ideal condition of external disturbance torque not operating, when driving in the trapezoidal speed model, the position deviation can be close to 0 in the entire action interval. In fact, there must be external disturbance torque, so the position deviation cannot be zero. In addition, like the speed feedforward, although the larger the constant of the torque feedforward filter, the smaller the action sound, but the greater the position deviation of the acceleration change point.
	341	+|=(% style="text-align: center; vertical-align: middle; width: 125px;" %)P02-12|(% style="text-align:center; vertical-align:middle; width:259px" %)Torque feedforward filtering time constant
344	344
345	345	Table 7-10 Torque feedforward parameters
346	346
347		-= **Mechanical resonance suppression** =
	345	+== **Model Tracking Control Function** ==
348	348
349		-== **Mechanical resonance suppression methods** ==
	347	+Model tracking control is suitable for position control mode, which adds a model loop outside the three loops. In the model loop, new position commands, speed feedforward and torque feedforward and other control quantities are generated according to the user's response requirements to the system and the ideal motor control model. Applying these control quantities to the actual control loop can significantly improve the response performance and positioning performance of the position control, the design block diagram is as follows:
350	350
351		-When the mechanical rigidity is low, vibration and noise may occur due to resonance caused by shaft twisting, and it may not be possible to increase the gain setting. In this case, by using a notch filter to reduce the gain at a specific frequency, after resonance is effectively suppressed, you can continue to increase the servo gain. There are 2 methods to suppress mechanical resonance.
352		-
353		-**(1) Torque instruction filter**
354		-
355		-By setting the filter time constant, the torque instruction is attenuated in the high frequency range above the cutoff frequency, so as to achieve the expectation of suppressing mechanical resonance. The cut-off frequency of the torque instruction filter could be calculated by the following formula:
356		-
357	357	(% style="text-align:center" %)
358		-[[image:image-20220706155820-5.jpeg]]
	350	+(((
	351	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	352	+[[**Figure 7-7 Block Diagram of Model Tracking Control Design**>>image:20230515-7.png||id="20230515-7.png"]]
	353	+)))
359	359
360		-**(2) Notch filter**
	355	+The usage method and conditions of model tracking control:
361	361
362		-The notch filter can achieve the expectation of suppressing mechanical resonance by reducing the gain at a specific frequency. When setting the notch filter correctly, the vibration can be effectively suppressed. You can try to increase the servo gain. The principle of the notch filter is shown in __[[Figure 7-3>>https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/WebHome/image-20220608174259-3.png?rev=1.1]]__.
	357	+~1. Correctly set the inertia ratio of the system P3-1, which can be obtained by monitoring the real-time load inertia ratio of U0-20.
363	363
364		-== **Notch filter** ==
	359	+2. Set the load rigidity level P3-2, set an appropriate value, it does not need to set a high rigidity level (recommended value 17~~21 under rigid load).
365	365
366		-The VD2 series servo drives have 2 sets of notch filters, each of which has 3 parameters, namely notch frequency, width grade and depth grade.
	361	+3. Set P2-20=1 to enable the function of model tracking control.
367	367
368		-**(1) Width grade of notch filter**
	363	+4. Adjust the P2-21 model tracking control gain from small to large, and gradually increase in steps of 1000 until the responsiveness of the system meets the actual demand. The responsiveness of the system is mainly determined by this parameter.
369	369
370		-The notch width grade is used to express the ratio of the notch width to the center frequency of the notch:
	365	+5. After the responsiveness meets the requirements, user can adjust the parameters appropriately to increase the load rigidity level P3-2.
371	371
372		-(% style="text-align:center" %)
373		-[[image:image-20220706155836-6.png]]
	367	+(% class="box infomessage" %)
	368	+(((
	369	+**✎Note**: Model tracking control is only available in position mode, and cannot be used in other modes.
	370	+)))
374	374
375		-In formula (7-1), [[image:image-20220706155946-7.png]] is the center frequency of notch filter, that is, the mechanical resonance frequency; ​​​​​​​[[image:image-20220706155952-8.png]] is the width of notch filter, which represents the frequency bandwidth with an amplitude attenuation rate of **-3dB** relative to the center frequency of notch filter.
376		-
377		-**(2) Depth grade of notch filter**
378		-
379		-The depth grade of notch filter represents the ratio relationship between input and output at center frequency.
380		-
381		-When the notch filter depth grade is 0, the input is completely suppressed at center frequency. When the notch filter depth grade is 100, the input is completely passable at center frequency. Therefore, the smaller the the notch filter depth grade is set, the deeper the the notch filter depth, and the stronger the suppression of mechanical resonance. But the system may be unstable, you should pay attention to it when using it. The specific relationship is shown in __[[Figure 7-4>>https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/WebHome/44.png?rev=1.1]]__.
382		-
383		-(% style="text-align:center" %)
384		-[[image:image-20220608174259-3.png]]
385		-
386		-Figure 7-7 Notch characteristics, notch width, and notch depth
387		-
388		-(% style="text-align:center" %)
389		-[[image:image-20220706160046-9.png]]
390		-
391		-Figure 7-8 Frequency characteristics of notch filter
392		-
393	393	(% class="table-bordered" %)
394		-|(% style="text-align:center; vertical-align:middle; width:113px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:197px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
	373	+|=(% scope="row" style="text-align: center; vertical-align: middle; width: 120px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 163px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 122px;" %)(((
395	395	**Setting method**
396		-)))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
	375	+)))|=(% style="text-align: center; vertical-align: middle; width: 128px;" %)(((
397	397	**Effective time**
398		-)))|(% style="text-align:center; vertical-align:middle; width:127px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:102px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:391px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:248px" %)**Unit**
399		-|(% style="text-align:center; vertical-align:middle; width:113px" %)P04-05|(% style="text-align:center; vertical-align:middle; width:197px" %)1st notch filter frequency|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
400		-Operation setting
401		-)))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
	377	+)))|=(% style="text-align: center; vertical-align: middle; width: 103px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 107px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 321px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle;" %)**Unit**
	378	+|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P2-20|(% style="text-align:center; vertical-align:middle; width:163px" %)Model tracking control function|(% style="text-align:center; vertical-align:middle; width:122px" %)(((
	379	+Shutdown setting
	380	+)))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
402	402	Effective immediately
403		-)))|(% style="text-align:center; vertical-align:middle; width:127px" %)300|(% style="text-align:center; vertical-align:middle; width:102px" %)250 to 5000|(% style="width:391px" %)Set the center frequency of the 1st notch filter. When the set value is 5000, the function of notch filter is invalid.|(% style="text-align:center; vertical-align:middle; width:248px" %)Hz
404		-|(% style="text-align:center; vertical-align:middle; width:113px" %)P04-06|(% style="text-align:center; vertical-align:middle; width:197px" %)1st notch filter depth|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
405		-Operation setting
406		-)))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
	382	+)))|(% style="text-align:center; vertical-align:middle; width:103px" %)0|(% style="text-align:center; vertical-align:middle; width:107px" %)0 to 1|When the function code is set to 1, enable the model tracking control function.|
	383	+|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P2-21|(% style="text-align:center; vertical-align:middle; width:163px" %)Model tracking  control gain|(% style="text-align:center; vertical-align:middle; width:122px" %)(((
	384	+Shutdown setting
	385	+)))|(((
407	407	Effective immediately
408		-)))|(% style="text-align:center; vertical-align:middle; width:127px" %)100|(% style="text-align:center; vertical-align:middle; width:102px" %)0 to 100|(% style="width:391px" %)(((
409		-0: all truncated
	387	+)))|(% style="text-align:center; vertical-align:middle; width:103px" %)1000|(% style="text-align:center; vertical-align:middle; width:107px" %)200 to 20000|(% rowspan="2" %)(% style="width:321px" %)Increasing the model tracking control gain can improve the position response performance of the model loop. If the gain is too high, it may cause overshoot behavior. The gain compensation affects the damping ratio of the model loop, and the damping ratio becomes larger as the gain compensation becomes larger.|(% style="text-align:center; vertical-align:middle" %)0.1/s
410	410
411		-100: all passed
412		-)))|(% style="text-align:center; vertical-align:middle; width:248px" %)-
413		-|(% style="text-align:center; vertical-align:middle; width:113px" %)P04-07|(% style="text-align:center; vertical-align:middle; width:197px" %)1st notch filter width|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
414		-Operation setting
415		-)))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
	389	+|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P2-22|(% style="text-align:center; vertical-align:middle; width:163px" %)Model tracking control gain compensation|Shutdown setting|(((
416	416	Effective immediately
417		-)))|(% style="text-align:center; vertical-align:middle; width:127px" %)4|(% style="text-align:center; vertical-align:middle; width:102px" %)0 to 12|(% style="width:391px" %)(((
418		-0: 0.5 times the bandwidth
	391	+)))|1000|(% style="text-align:center; vertical-align:middle; width:107px" %)500 to 2000|(% style="text-align:center; vertical-align:middle" %)0.10%
419	419
420		-4: 1 times the bandwidth
421		-
422		-8: 2 times the bandwidth
423		-
424		-12: 4 times the bandwidth
425		-)))|(% style="text-align:center; vertical-align:middle; width:248px" %)-
426		-|(% style="text-align:center; vertical-align:middle; width:113px" %)P04-08|(% style="text-align:center; vertical-align:middle; width:197px" %)2nd notch filter frequency|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
	393	+(% class="table-bordered" %)
	394	+|=(% scope="row" style="text-align: center; vertical-align: middle; width: 120px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 163px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 122px;" %)(((
	395	+**Setting method**
	396	+)))|=(% style="text-align: center; vertical-align: middle; width: 128px;" %)(((
	397	+**Effective time**
	398	+)))|=(% style="text-align: center; vertical-align: middle; width: 103px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 107px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 321px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle;" %)**Unit**
	399	+|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P2-23|(% style="text-align:center; vertical-align:middle; width:163px" %)Model tracking control forward rotation bias|(((
427	427	Operation setting
428		-)))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
	401	+)))|(((
429	429	Effective immediately
430		-)))|(% style="text-align:center; vertical-align:middle; width:127px" %)500|(% style="text-align:center; vertical-align:middle; width:102px" %)250 to 5000|(% style="width:391px" %)Set the center frequency of the 2nd notch filter. When the set value is 5000, the function of the notch filter is invalid.|(% style="text-align:center; vertical-align:middle; width:248px" %)Hz
431		-|(% style="text-align:center; vertical-align:middle; width:113px" %)P04-09|(% style="text-align:center; vertical-align:middle; width:197px" %)2nd notch filter depth|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
	403	+)))|(% style="text-align:center; vertical-align:middle; width:103px" %)1000|(% style="text-align:center; vertical-align:middle; width:107px" %)0 to 10000|(% rowspan="2" %)(% style="width:321px" %)Torque feedforward size in the positive and reverse direction under model tracking control|(% style="text-align:center; vertical-align:middle" %)0.10%
	404	+|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P2-24|(% style="text-align:center; vertical-align:middle; width:163px" %)Model tracking control reverses rotation bias|(((
432	432	Operation setting
433		-)))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
	406	+)))|(((
434	434	Effective immediately
435		-)))|(% style="text-align:center; vertical-align:middle; width:127px" %)100|(% style="text-align:center; vertical-align:middle; width:102px" %)0 to 100|(% style="width:391px" %)(((
436		-0: all truncated
437		-
438		-100: all passed
439		-)))|(% style="text-align:center; vertical-align:middle; width:248px" %)-
440		-|(% style="text-align:center; vertical-align:middle; width:113px" %)P04-10|(% style="text-align:center; vertical-align:middle; width:197px" %)2nd notch filter width|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
441		-Operation setting
442		-)))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
	408	+)))|1000|(% style="text-align:center; vertical-align:middle; width:107px" %)0 to 10000|0.10%
	409	+|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P2-25|(% style="text-align:center; vertical-align:middle; width:163px" %)Model tracking control speed feedforward compensation|Operation setting|(((
443	443	Effective immediately
444		-)))|(% style="text-align:center; vertical-align:middle; width:127px" %)4|(% style="text-align:center; vertical-align:middle; width:102px" %)0 to 12|(% style="width:391px" %)(((
445		-0: 0.5 times the bandwidth
	411	+)))|(% style="text-align:center; vertical-align:middle; width:103px" %)1000|(% style="text-align:center; vertical-align:middle; width:107px" %)0 to 10000|(% style="width:321px" %)The size of the speed feedforward under model tracking control|(% style="text-align:center; vertical-align:middle" %)0.10%
446	446
447		-4: 1 times the bandwidth
	413	+Please refer to the following for an example of the procedure of adjusting servo gain.
448	448
449		-8: 2 times the bandwidth
450		-
451		-12: 4 times the bandwidth
452		-)))|(% style="text-align:center; vertical-align:middle; width:248px" %)-
453		-
454		-Table 7-11 Notch filter function code parameters
	415	+|**Step**|** Content**
	416	+|1|Please try to set the correct load inertia ratio parameter P3-1.
	417	+|2|If the automatic adjustment mode is used (P3-3 is set to 0), please set the basic rigidity level parameter P3-2. If in manual adjustment mode (P3-3 is set to 1), please set the gain P2-1~~P2-3 related to the position loop and speed loop and the torque filter time constant P4-4. The setting principle is mainly no vibration and overshoot.
	418	+|3|Turn on the model tracking function, set P2-20 to 1.
	419	+|4|Increase the model tracking gain P2-21 within the range of no overshoot and vibration occurring.
	420	+|5|If the rigidity level of step 2 is set relatively low, user can properly increase the rigidity level P3-2.
	421	+|6|When overshoot occurs, or the responses of forward rotation and reverse rotation are different, user can fine-tune through model tracking control forward bias P2-23, model tracking control reverse bias P2-24, model tracking control speed feedforward compensation P2 -25.

20230515-10.png

Author

...	...	@@ -1,0 +1,1 @@
	1	+XWiki.Karen

Size

...	...	@@ -1,0 +1,1 @@
	1	+10.3 KB

Content

20230515-7.png

Author

...	...	@@ -1,0 +1,1 @@
	1	+XWiki.Karen

Size

...	...	@@ -1,0 +1,1 @@
	1	+9.9 KB

Content

20230515-8.png

Author

...	...	@@ -1,0 +1,1 @@
	1	+XWiki.Karen

Size

...	...	@@ -1,0 +1,1 @@
	1	+21.5 KB

Content

20230515-9.png

Author

...	...	@@ -1,0 +1,1 @@
	1	+XWiki.Karen

Size

...	...	@@ -1,0 +1,1 @@
	1	+18.7 KB

Content

image-20230515140641-1.png

Author

...	...	@@ -1,0 +1,1 @@
	1	+XWiki.Karen

Size

...	...	@@ -1,0 +1,1 @@
	1	+23.1 KB

Content

image-20230515140641-2.png

Author

...	...	@@ -1,0 +1,1 @@
	1	+XWiki.Karen

Size

...	...	@@ -1,0 +1,1 @@
	1	+11.9 KB

Content

image-20230515140641-3.png

Author

...	...	@@ -1,0 +1,1 @@
	1	+XWiki.Karen

Size

...	...	@@ -1,0 +1,1 @@
	1	+12.8 KB

Content

image-20230515140641-4.png

Author

...	...	@@ -1,0 +1,1 @@
	1	+XWiki.Karen

Size

...	...	@@ -1,0 +1,1 @@
	1	+11.0 KB

Content

image-20230515140641-5.png

Author

...	...	@@ -1,0 +1,1 @@
	1	+XWiki.Karen

Size

...	...	@@ -1,0 +1,1 @@
	1	+20.5 KB

Content

image-20230515140641-6.png

Author

...	...	@@ -1,0 +1,1 @@
	1	+XWiki.Karen

Size

...	...	@@ -1,0 +1,1 @@
	1	+18.1 KB

Content

image-20230515140641-7.png

Author

...	...	@@ -1,0 +1,1 @@
	1	+XWiki.Karen

Size

...	...	@@ -1,0 +1,1 @@
	1	+10.4 KB

Content

image-20230515140641-8.png

Author

...	...	@@ -1,0 +1,1 @@
	1	+XWiki.Karen

Size

...	...	@@ -1,0 +1,1 @@
	1	+11.4 KB

Content

image-20230515140953-10.png

Author

...	...	@@ -1,0 +1,1 @@
	1	+XWiki.Karen

Size

...	...	@@ -1,0 +1,1 @@
	1	+23.7 KB

Content

image-20230515140953-11.png

Author

...	...	@@ -1,0 +1,1 @@
	1	+XWiki.Karen

Size

...	...	@@ -1,0 +1,1 @@
	1	+23.1 KB

Content

image-20230515140953-12.png

Author

...	...	@@ -1,0 +1,1 @@
	1	+XWiki.Karen

Size

...	...	@@ -1,0 +1,1 @@
	1	+14.5 KB

Content

image-20230515140953-9.png

Author

...	...	@@ -1,0 +1,1 @@
	1	+XWiki.Karen

Size

...	...	@@ -1,0 +1,1 @@
	1	+24.4 KB

Content