Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03

From 16.4 to 16.3 From 17.1 to 16.5

From version 16.5

edited by Stone Wu
on 2022/08/30 11:22

Change comment: There is no comment for this version

To version 16.4

edited by Stone Wu
on 2022/07/29 10:04

Change comment: Update document after refactoring.

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@@ -3,25 +3,21 @@
  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.
  (% style="text-align:center" %)
--(((
--(% class="wikigeneratedid" style="display:inline-block" %)
--[[**Figure 7-1 Gain adjustment process**>>image:image-20220608174118-1.png||id="Iimage-20220608174118-1.png"]]
--)))
++[[image:image-20220608174118-1.png]]
++Figure 7-1 Gain adjustment process
++
  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.
--(% class="box infomessage" %)
--(((
  ✎**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.
--)))
  (% class="table-bordered" %)
--|=(% 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**
--|(% 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"]]__
--|(% 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"]]__
--|(% 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"]]__
--|(% 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"]]__
--|(% 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"]]__
++|(% 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**
++|(% 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]]__
++|(% 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]]__
++|(% 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]]__
++|(% 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]]__
++|(% 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]]__
  Table 7-1 Description of gain adjustment process
@@ -41,34 +41,41 @@
  |(((
  **Before performing online load inertia recognition, the following conditions should be met:**
--* The maximum speed of the motor should be greater than 300rpm;
--* The actual load inertia ratio is between 0.00 and 100.00;
--* The load torque is relatively stable, and the load cannot change drastically during the measurement process;
--* The backlash of the load transmission mechanism is within a certain range;
++The maximum speed of the motor should be greater than 300rpm;
++The actual load inertia ratio is between 0.00 and 100.00;
++
++The load torque is relatively stable, and the load cannot change drastically during the measurement process;
++
++The backlash of the load transmission mechanism is within a certain range;
++
  **The motor's runable stroke should meet two requirements:**
--* There is a movable stroke of more than 1 turn in both forward and reverse directions between the mechanical limit switches.
--* 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.
--* Meet the requirement of inertia recognition turns P03-05.
--* 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.
--* During the automatic load inertia recognition process, if vibration occurs, the load inertia recognition should be stopped immediately.
++There is a movable stroke of more than 1 turn in both forward and reverse directions between the mechanical limit switches.
++
++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.
++
++Meet the requirement of inertia recognition turns P03-05.
++
++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.
++
++During the automatic load inertia recognition process, if vibration occurs, the load inertia recognition should be stopped immediately.
  )))
  The related function codes are shown in the table below.
  (% class="table-bordered" %)
--|=(% 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;" %)(((
++|(% 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" %)(((
  **Setting method**
--)))|=(% style="text-align: center; vertical-align: middle; width: 213px;" %)(((
++)))|(% style="text-align:center; vertical-align:middle; width:213px" %)(((
  **Effective time**
--)))|=(% 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**
--|=(% 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" %)(((
++)))|(% 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**
++|(% 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" %)(((
  Operation setting
  )))|(% style="text-align:center; vertical-align:middle; width:213px" %)(((
  Effective immediately
  )))|(% 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
--|=(% style="text-align: center; vertical-align: middle; width: 117px;" %)P03-05|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
++|(% style="text-align:center; vertical-align:middle; width:117px" %)P03-05|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
  Inertia recognition turns
  )))|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
  Shutdown setting
@@ -75,7 +75,7 @@
  )))|(% style="text-align:center; vertical-align:middle; width:213px" %)(((
  Effective immediately
  )))|(% 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
--|=(% style="text-align: center; vertical-align: middle; width: 117px;" %)P03-06|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
++|(% style="text-align:center; vertical-align:middle; width:117px" %)P03-06|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
  Inertia recognition maximum speed
  )))|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
  Shutdown setting
@@ -86,7 +86,7 @@
  The faster the speed during inertia recognition, the more accurate the recognition result will be. Usually, you can keep the default value.
  )))|(% style="text-align:center; vertical-align:middle" %)rpm
--|=(% style="text-align: center; vertical-align: middle; width: 117px;" %)P03-07|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
++|(% style="text-align:center; vertical-align:middle; width:117px" %)P03-07|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
  Parameter recognition rotation direction
  )))|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
  Shutdown setting
@@ -110,7 +110,7 @@
  The servo supports automatic gain adjustment and manual gain adjustment. It is recommended to use automatic gain adjustment first.
--== Automatic gain adjustment ==
++== **Automatic gain adjustment** ==
  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.
@@ -123,10 +123,10 @@
  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.
  (% class="table-bordered" %)
--|=(% scope="row" style="text-align: center; vertical-align: middle;" %)**Rigidity grade**|=(% style="text-align: center; vertical-align: middle;" %)**Load mechanism type**
--|=(% style="text-align: center; vertical-align: middle;" %)Grade 4 to 8|(% style="text-align:center; vertical-align:middle" %)Some large machinery
--|=(% style="text-align: center; vertical-align: middle;" %)Grade 8 to 15|(% style="text-align:center; vertical-align:middle" %)Low rigidity applications such as belts
--|=(% 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
++|(% style="text-align:center; vertical-align:middle" %)**Rigidity grade**|(% style="text-align:center; vertical-align:middle" %)**Load mechanism type**
++|(% style="text-align:center; vertical-align:middle" %)Grade 4 to 8|(% style="text-align:center; vertical-align:middle" %)Some large machinery
++|(% style="text-align:center; vertical-align:middle" %)Grade 8 to 15|(% style="text-align:center; vertical-align:middle" %)Low rigidity applications such as belts
++|(% 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
  Table 7-3 Experience reference of rigidity grade
@@ -151,24 +151,26 @@
  )))
  (% class="table-bordered" %)
--|(% 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:122px" %)(((
++|(% 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" %)(((
  **Setting method**
--)))|(% style="text-align:center; vertical-align:middle; width:129px" %)(((
++)))|(% style="text-align:center; vertical-align:middle; width:168px" %)(((
  **Effective time**
--)))|(% style="text-align:center; vertical-align:middle; width:95px" %)**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**
--|(% 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:122px" %)(((
++)))|(% 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**
++|(% 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" %)(((
  Operation setting
--)))|(% style="text-align:center; vertical-align:middle; width:129px" %)(((
++)))|(% style="text-align:center; vertical-align:middle; width:168px" %)(((
  Effective immediately
--)))|(% style="text-align:center; vertical-align:middle; width:95px" %)0|(% style="text-align:center; vertical-align:middle; width:85px" %)0 to 2|(% style="width:430px" %)(((
--* 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.
--* 1: Manual setting; you need to manually set the position loop gain, speed loop gain, speed loop integral time constant, torque filter parameter setting
--* 2: Online automatic parameter self-adjusting mode (Not implemented yet)
++)))|(% 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" %)(((
++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.
++
++1: Manual setting; you need to manually set the position loop gain, speed loop gain, speed loop integral time constant, torque filter parameter setting
++
++2: Online automatic parameter self-adjusting mode (Not implemented yet)
  )))|(% style="text-align:center; vertical-align:middle" %)-
  Table 7-4 Details of self-adjusting mode selection parameters
--== Manual gain adjustment ==
++== **Manual gain adjustment** ==
  When the servo automatic gain adjustment fails to achieve the desired result, you can manually fine-tune the gain to achieve better results.
@@ -175,11 +175,10 @@
  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.
  (% style="text-align:center" %)
--(((
--(% class="wikigeneratedid" style="display:inline-block" %)
--[[**Figure 7-2 Basic block diagram of servo loop gain**>>image:image-20220608174209-2.png||id="Iimage-20220608174209-2.png"]]
--)))
++[[image:image-20220608174209-2.png]]
++Figure 7-2 Basic block diagram of servo loop gain
++
  The more the inner loop is, the higher the responsiveness is required. Failure to comply with this principle may lead to system instability!
  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.
@@ -187,125 +187,126 @@
  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.
  (% class="table-bordered" %)
--|=(% scope="row" style="text-align: center; vertical-align: middle; width: 450px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 751px;" %)**Name**
--|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-01|(% style="width:751px" %)The 1st position loop gain
--|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-02|(% style="width:751px" %)The 1st speed loop gain
--|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-03|(% style="width:751px" %)The 1st speed loop integral time constant
--|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-04|(% style="width:751px" %)The 2nd position loop gain
--|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-05|(% style="width:751px" %)The 2nd speed loop gain
--|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-06|(% style="width:751px" %)The 2nd speed loop integral time constant
--|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P04-04|(% style="width:751px" %)Torque filter time constant
++|(% style="text-align:center; vertical-align:middle; width:450px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:751px" %)**Name**
++|(% style="text-align:center; vertical-align:middle; width:450px" %)P02-01|(% style="width:751px" %)The 1st position loop gain
++|(% style="text-align:center; vertical-align:middle; width:450px" %)P02-02|(% style="width:751px" %)The 1st speed loop gain
++|(% style="text-align:center; vertical-align:middle; width:450px" %)P02-03|(% style="width:751px" %)The 1st speed loop integral time constant
++|(% style="text-align:center; vertical-align:middle; width:450px" %)P02-04|(% style="width:751px" %)The 2nd position loop gain
++|(% style="text-align:center; vertical-align:middle; width:450px" %)P02-05|(% style="width:751px" %)The 2nd speed loop gain
++|(% style="text-align:center; vertical-align:middle; width:450px" %)P02-06|(% style="width:751px" %)The 2nd speed loop integral time constant
++|(% style="text-align:center; vertical-align:middle; width:450px" %)P04-04|(% style="width:751px" %)Torque filter time constant
--**Speed loop gain**
++**(1) Speed loop gain**
  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.
  (% class="table-bordered" %)
--|=(% 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;" %)(((
++|(% 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" %)(((
  **Setting method**
--)))|=(% style="text-align: center; vertical-align: middle; width: 128px;" %)(((
++)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((
  **Effective time**
--)))|=(% 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**
--|=(% 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" %)(((
++)))|(% 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**
++|(% 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" %)(((
  Operation setting
--)))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
++)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((
  Effective immediately
--)))|(% 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
--|=(% 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" %)(((
++)))|(% 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
++|(% 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" %)(((
  Operation setting
--)))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
++)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((
  Effective immediately
--)))|(% 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
++)))|(% 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
  Table 7-5 Speed loop gain parameters
  (% style="text-align:center" %)
--(((
--(% class="wikigeneratedid" style="display:inline-block" %)
--[[**Figure 7-3 Speed loop gain effect illustration**>>image:image-20220706152743-1.jpeg||id="Iimage-20220706152743-1.jpeg"]]
--)))
++[[image:image-20220706152743-1.jpeg]]
--**Speed loop integral time constant**
++Figure 7-3 Speed loop gain effect illustration
++**(2) Speed loop integral time constant**
++
  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.
  (% class="table-bordered" %)
--|=(% 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;" %)(((
++|(% 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" %)(((
  **Setting method**
--)))|=(% style="text-align: center; vertical-align: middle; width: 112px;" %)(((
++)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
  **Effective time**
--)))|=(% 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**
--|=(% style="text-align: center; vertical-align: middle; width: 98px;" %)P02-03|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
++)))|(% 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**
++|(% style="text-align:center; vertical-align:middle; width:126px" %)P02-03|(% style="text-align:center; vertical-align:middle; width:185px" %)(((
 st speed loop integral time constant
--)))|(% style="text-align:center; vertical-align:middle; width:122px" %)(((
++)))|(% style="text-align:center; vertical-align:middle; width:132px" %)(((
  Operation setting
--)))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
++)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
  Effective immediately
--)))|(% 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" %)(((
--0.1ms
++)))|(% 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" %)(((
++0.1
++
++ms
  )))
--|=(% style="text-align: center; vertical-align: middle; width: 98px;" %)P02-06|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
++|(% style="text-align:center; vertical-align:middle; width:126px" %)P02-06|(% style="text-align:center; vertical-align:middle; width:185px" %)(((
 nd speed loop integral time constant
--)))|(% style="text-align:center; vertical-align:middle; width:122px" %)(((
++)))|(% style="text-align:center; vertical-align:middle; width:132px" %)(((
  Operation setting
--)))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
++)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
  Effective immediately
--)))|(% 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" %)(((
--0.1ms
++)))|(% 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" %)(((
++0.1
++
++ms
  )))
  Table 7-6 Speed loop integral time constant parameters
  (% style="text-align:center" %)
--(((
--(% class="wikigeneratedid" style="display:inline-block" %)
--[[**Figure 7-4 Speed loop integral time constant effect illustration**>>image:image-20220706153140-2.jpeg||id="Iimage-20220706153140-2.jpeg"]]
--)))
++[[image:image-20220706153140-2.jpeg]]
--**Position loop gain**
++Figure 7-4 Speed loop integral time constant effect illustration
++**(3) Position loop gain**
++
  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.
  (% class="table-bordered" %)
--|=(% scope="row" style="text-align: center; vertical-align: middle; width: 95px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 159px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 114px;" %)(((
++|(% 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" %)(((
  **Setting method**
--)))|=(% style="text-align: center; vertical-align: middle; width: 108px;" %)(((
++)))|(% style="text-align:center; vertical-align:middle; width:167px" %)(((
  **Effective time**
--)))|=(% style="text-align: center; vertical-align: middle; width: 108px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 114px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 355px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle;" %)**Unit**
--|=(% style="text-align: center; vertical-align: middle; width: 95px;" %)P02-01|(% style="text-align:center; vertical-align:middle; width:159px" %)1st position loop gain|(% style="text-align:center; vertical-align:middle; width:114px" %)(((
++)))|(% 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**
++|(% 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" %)(((
  Operation setting
--)))|(% style="text-align:center; vertical-align:middle; width:108px" %)(((
++)))|(% style="text-align:center; vertical-align:middle; width:167px" %)(((
  Effective immediately
--)))|(% style="text-align:center; vertical-align:middle; width:108px" %)400|(% style="text-align:center; vertical-align:middle; width:114px" %)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
--|=(% style="text-align: center; vertical-align: middle; width: 95px;" %)P02-04|(% style="text-align:center; vertical-align:middle; width:159px" %)2nd position loop gain|(% style="text-align:center; vertical-align:middle; width:114px" %)(((
++)))|(% 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
++|(% 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" %)(((
  Operation setting
--)))|(% style="text-align:center; vertical-align:middle; width:108px" %)(((
++)))|(% style="text-align:center; vertical-align:middle; width:167px" %)(((
  Effective immediately
--)))|(% style="text-align:center; vertical-align:middle; width:108px" %)35|(% style="text-align:center; vertical-align:middle; width:114px" %)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
++)))|(% 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
  Table 7-7 Position loop gain parameters
  (% style="text-align:center" %)
--(((
--(% class="wikigeneratedid" style="display:inline-block" %)
--[[**Figure 7-5 Position loop gain effect illustration**>>image:image-20220706153656-3.jpeg||id="Iimage-20220706153656-3.jpeg"]]
--)))
++[[image:image-20220706153656-3.jpeg]]
--**Torque instruction filter time**
++Figure 7-5 Position loop gain effect illustration
++**(4) Torque instruction filter time**
++
  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.
  (% class="table-bordered" %)
--|=(% 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;" %)(((
++|(% 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" %)(((
  **Setting method**
--)))|=(% style="text-align: center; vertical-align: middle; width: 133px;" %)(((
++)))|(% style="text-align:center; vertical-align:middle; width:180px" %)(((
  **Effective time**
--)))|=(% style="text-align: center; vertical-align: middle; width: 142px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 328px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle;" %)**Unit**
--|=(% 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" %)(((
++)))|(% 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**
++|(% 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" %)(((
  Operation setting
--)))|(% style="text-align:center; vertical-align:middle; width:133px" %)(((
++)))|(% style="text-align:center; vertical-align:middle; width:180px" %)(((
  Effective immediately
--)))|(% style="text-align:center; vertical-align:middle; width:142px" %)50|(% style="width:328px" %)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
++)))|(% 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
  Table 7-8 Details of torque filter time constant parameters
@@ -313,18 +313,18 @@
  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.
--Speed feedforward parameters are shown in __Table 7-9__. Torque feedforward parameters are shown in __Table 7-10__.
++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]]__.
  Torque feedforward could improve the response to the torque instruction and reduce the position deviation with fixed acceleration and deceleration.
  (% class="table-bordered" %)
--|=(% 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**
--|=(% 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" %)(((
++|(% 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**
++|(% 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" %)(((
  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.
  Position deviation (instruction unit) = instruction speed[instruction unit/s]÷position loop gain [1/s]×(100－speed feedforward gain [%])÷100
  )))
--|=(% 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
++|(% 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
  Table 7-9 Speed feedforward parameters
@@ -367,7 +367,7 @@
  (% style="text-align:center" %)
  [[image:image-20220706155836-6.png]]
--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.
++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.
  **(2) Depth grade of notch filter**

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