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Wiki source code of 07 Adjustments

Version 1.1 by Leo Wei on 2022/06/08 12:57
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1 = **Overview** =
2
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
5 [[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_89da9be7ea621ab.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_89da9be7ea621ab.gif"]]
6
7 Figure 7-1 Gain adjustment process
8
9 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.
10
11 ✎**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.
12
13 (% class="table-bordered" %)
14 |(% 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**
15 |(% 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>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/#HInertiarecognition]]__
16 |(% 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>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/#HAutomaticgainadjustment]]__
17 |(% 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>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/#HManualgainadjustment]]__
18 |(% 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>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/#HFeedforwardgain]]__
19 |(% 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>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/#HMechanicalresonancesuppressionmethods]]__
20
21 Table 7-1 Description of gain adjustment process
22
23 = **Inertia recognition** =
24
25 Load inertia ratio P03-01 refers to:
26
27 [[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_eea1e5e734146443.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_eea1e5e734146443.gif"]]
28
29 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.
30
31 |[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_6db94f5d0421f97a.png?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_6db94f5d0421f97a.png"]]
32 |(((
33 **Before performing online load inertia recognition, the following conditions should be met:**
34
35 The maximum speed of the motor should be greater than 300rpm;
36
37 The actual load inertia ratio is between 0.00 and 100.00;
38
39 The load torque is relatively stable, and the load cannot change drastically during the measurement process;
40
41 The backlash of the load transmission mechanism is within a certain range;
42
43 **The motor's runable stroke should meet two requirements:**
44
45 There is a movable stroke of more than 1 turn in both forward and reverse directions between the mechanical limit switches.
46
47 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.
48
49 Meet the requirement of inertia recognition turns P03-05.
50
51 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.
52
53 During the automatic load inertia recognition process, if vibration occurs, the load inertia identification should be stopped immediately.
54 )))
55
56 The related function codes are shown in the table below.
57
58 (% class="table-bordered" %)
59 |(% 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" %)(((
60 **Setting method**
61 )))|(% style="text-align:center; vertical-align:middle; width:213px" %)(((
62 **Effective time**
63 )))|(% 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**
64 |(% 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 Operation setting
66 )))|(% style="text-align:center; vertical-align:middle; width:213px" %)(((
67 Effective immediately
68 )))|(% style="text-align:center; vertical-align:middle; width:117px" %)200|(% 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
69 |(% style="text-align:center; vertical-align:middle; width:117px" %)P03-05|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
70 Inertia recognition turns
71 )))|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
72 Shutdown setting
73 )))|(% style="text-align:center; vertical-align:middle; width:213px" %)(((
74 Effective immediately
75 )))|(% 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
76 |(% style="text-align:center; vertical-align:middle; width:117px" %)P03-06|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
77 Inertia recognition maximum speed
78 )))|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
79 Shutdown setting
80 )))|(% style="text-align:center; vertical-align:middle; width:213px" %)(((
81 Effective immediately
82 )))|(% 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" %)(((
83 Set the allowable maximum motor speed instruction in offline inertia recognition mode.
84
85 The faster the speed during inertia recognition, the more accurate the recognition result will be. Usually, you can keep the default value.
86 )))|(% style="text-align:center; vertical-align:middle" %)rpm
87 |(% style="text-align:center; vertical-align:middle; width:117px" %)P03-07|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
88 Parameter recognition rotation direction
89 )))|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
90 Shutdown setting
91 )))|(% style="text-align:center; vertical-align:middle; width:213px" %)(((
92 Effective immediately
93 )))|(% 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" %)(((
94 0: Forward and reverse reciprocating rotation
95
96 1: Forward one-way rotation
97
98 2: Reverse one-way rotation
99 )))|(% style="text-align:center; vertical-align:middle" %)-
100
101 Table 7-2 Related parameters of gain adjustment
102
103 = **Gain adjustment** =
104
105 In order to optimize the responsiveness of the servo drive, the servo gain set in the servo drive needs to be adjusted. Servo gain needs to set multiple parameter combinations, which will affect each other. Therefore, the adjustment of servo gain must consider the relationship between each parameter.
106
107 Under normal circumstances, high-rigidity machinery can improve the response performance by increasing the servo gain. But for machines with lower rigidity, when the servo gain is increased, vibration may occur, and then affects the increase in gain. Therefore, selecting appropriate servo gain parameters can achieve higher response and stable performance.
108
109 The servo supports automatic gain adjustment and manual gain adjustment. It is recommended to use automatic gain adjustment first.
110
111 == **Automatic gain adjustment** ==
112
113 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.
114
115 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.
116
117 (% class="table-bordered" %)
118 |(% style="text-align:center; vertical-align:middle" %)[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_6db94f5d0421f97a.png?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_6db94f5d0421f97a.png"]]
119 |(% style="text-align:center; vertical-align:middle" %)Before adjusting the rigidity grade, set the appropriate load inertia ratio P03-01 correctly.
120
121 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.
122
123 (% class="table-bordered" %)
124 |(% style="text-align:center; vertical-align:middle" %)**Rigidity grade**|(% style="text-align:center; vertical-align:middle" %)**Load mechanism type**
125 |(% style="text-align:center; vertical-align:middle" %)Grade 4 to 8|(% style="text-align:center; vertical-align:middle" %)Some large machinery
126 |(% style="text-align:center; vertical-align:middle" %)Grade 8 to 15|(% style="text-align:center; vertical-align:middle" %)Low rigidity applications such as belts
127 |(% 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
128
129 Table 7-3 Experience reference of rigidity grade
130
131 When the function code P03-03 is set to 0, the gain parameters are stored in the first gain by modifying the rigidity grade.
132
133 When debugging with the host computer debugging software, automatic rigidity level measurement can be carried out, which is used to select a set of appropriate rigidity grades as operating parameters. The operation steps are as follows:
134
135 Step1 Confirm that the servo is in the ready state, the panel displays “rdy”, and the communication line is connected;
136
137 Step2 Open the host computer debugging software, enter the trial run interface, set the corresponding parameters, and click "Servo on";
138
139 Step3 Click the "forward rotation" or "reverse rotation" button to confirm the travel range of the servo operation;
140
141 Step4 After the "start recognition" of inertia recognition lights up, click "start recognition" to perform inertia recognition, and the load inertia can be measured.
142
143 Step5 After the inertia recognition test is completed, click "Save Inertia Value";
144
145 Step6 Click "Next" at the bottom right to go to the parameter adjustment interface, and click "Parameter measurement" to start parameter measurement.
146
147 Step7 After the parameter measurement is completed, the host computer debugging software will pop up a confirmation window for parameter writing and saving.
148
149 (% class="table-bordered" %)
150 |(% style="text-align:center; vertical-align:middle" %)[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_6db94f5d0421f97a.png?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_6db94f5d0421f97a.png"]]
151 |(((
152 ✎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!
153
154 ✎For the detailed operation of the host computer debugging software, please refer to "Wecon Servo Debugging Platform User Manual".
155 )))
156
157 (% class="table-bordered" %)
158 |(% 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" %)(((
159 **Setting method**
160 )))|(% style="text-align:center; vertical-align:middle; width:168px" %)(((
161 **Effective time**
162 )))|(% style="text-align:center; vertical-align:middle; width:110px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:65px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:453px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
163 |(% 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" %)(((
164 Operation setting
165 )))|(% style="text-align:center; vertical-align:middle; width:168px" %)(((
166 Effective immediately
167 )))|(% style="text-align:center; vertical-align:middle; width:110px" %)0|(% style="text-align:center; vertical-align:middle; width:65px" %)0 to 2|(% style="width:453px" %)(((
168 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.
169
170 1: Manual setting; you need to manually set the position loop gain, speed loop gain, speed loop integral time constant, torque filter parameter setting
171
172 2: Online automatic parameter self-adjusting mode (Not implemented yet)
173 )))|(% style="text-align:center; vertical-align:middle" %)-
174
175 Table 7-4 Details of self-adjusting mode selection parameters
176
177 == **Manual gain adjustment** ==
178
179 When the servo automatic gain adjustment fails to achieve the desired result, you can manually fine-tune the gain to achieve better results.
180
181 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.
182
183 [[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_121534c3612a37b8.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_121534c3612a37b8.gif"]]
184
185 Figure 7-2 Basic block diagram of servo loop gain
186
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
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
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.
192
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
202
203 **(1) Speed loop gain**
204
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
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" %)(((
209 **Setting method**
210 )))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((
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" %)(((
214 Operation setting
215 )))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((
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" %)(((
219 Operation setting
220 )))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((
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
223
224 Table 7-5 Speed loop gain parameters
225
226 **(2) Speed loop integral time constant**
227
228 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.
229
230 (% class="table-bordered" %)
231 |(% 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" %)(((
232 **Setting method**
233 )))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
234 **Effective time**
235 )))|(% 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**
236 |(% style="text-align:center; vertical-align:middle; width:126px" %)P02-03|(% style="text-align:center; vertical-align:middle; width:185px" %)(((
237 1st speed loop integral time constant
238 )))|(% style="text-align:center; vertical-align:middle; width:132px" %)(((
239 Operation setting
240 )))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
241 Effective immediately
242 )))|(% 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" %)(((
243 0.1
244
245 ms
246 )))
247 |(% style="text-align:center; vertical-align:middle; width:126px" %)P02-06|(% style="text-align:center; vertical-align:middle; width:185px" %)(((
248 2nd speed loop integral time constant
249 )))|(% style="text-align:center; vertical-align:middle; width:132px" %)(((
250 Operation setting
251 )))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
252 Effective immediately
253 )))|(% 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" %)(((
254 0.1
255
256 ms
257 )))
258
259 Table 7-6 Speed loop integral time constant parameters
260
261 **(3) Position loop gain**
262
263 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.
264
265 (% class="table-bordered" %)
266 |(% 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" %)(((
267 **Setting method**
268 )))|(% style="text-align:center; vertical-align:middle; width:167px" %)(((
269 **Effective time**
270 )))|(% 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**
271 |(% 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" %)(((
272 Operation setting
273 )))|(% style="text-align:center; vertical-align:middle; width:167px" %)(((
274 Effective immediately
275 )))|(% 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
276 |(% 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" %)(((
277 Operation setting
278 )))|(% style="text-align:center; vertical-align:middle; width:167px" %)(((
279 Effective immediately
280 )))|(% 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
281
282 Table 7-7 Position loop gain parameters
283
284 **(4) Torque instruction filter time**
285
286 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.
287
288 (% class="table-bordered" %)
289 |(% 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" %)(((
290 **Setting method**
291 )))|(% style="text-align:center; vertical-align:middle; width:180px" %)(((
292 **Effective time**
293 )))|(% 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**
294 |(% 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" %)(((
295 Operation setting
296 )))|(% style="text-align:center; vertical-align:middle; width:180px" %)(((
297 Effective immediately
298 )))|(% 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
299
300 Table 7-8 Details of torque filter time constant parameters
301
302 == **Feedforward gain** ==
303
304 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.
305
306 Speed feedforward parameters are shown in __[[Table 7-9>>http://13.229.109.52:8080/wiki/servo/view/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>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/#HFeedforwardgain]]__.
307
308 Torque feedforward could improve the response to the torque instruction and reduce the position deviation with fixed acceleration and deceleration.
309
310 (% class="table-bordered" %)
311 |(% 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**
312 |(% 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" %)(((
313 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.
314
315 Position deviation (instruction unit) = instruction speed[instruction unit/s]÷position loop gain [1/s]×(100－speed feedforward gain [%])÷100
316 )))
317 |(% 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
318
319 Table 7-9 Speed feedforward parameters
320
321 (% class="table-bordered" %)
322 |(% 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**
323 |(% 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.
324 |(% 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
325
326 Table 7-10 Torque feedforward parameters
327
328 = **Mechanical resonance suppression** =
329
330 == **Mechanical resonance suppression methods** ==
331
332 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.
333
334 **(1) Torque instruction filter**
335
336 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:
337
338
339 [[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_b790fca20446a1fb.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_b790fca20446a1fb.gif"]]
340
341 **(2) Notch filter**
342
343 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>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_c84670518f0b6362.gif?rev=1.1]]__.
344
345 == **Notch filter** ==
346
347 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.
348
349 **(1) Width grade of notch filter**
350
351 The notch width grade is used to express the ratio of the notch width to the center frequency of the notch:
352
353 [[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_81c5e241dc9592c2.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_81c5e241dc9592c2.gif"]] (7-1)
354
355 In formula (7-1), [[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_1acf7c31dc319d0b.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_1acf7c31dc319d0b.gif"]] is the center frequency of notch filter, that is, the mechanical resonance frequency; [[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_d742f627f5179fb3.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_d742f627f5179fb3.gif"]] 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.
356
357 **(2) Depth grade of notch filter**
358
359 The depth grade of notch filter represents the ratio relationship between input and output at center frequency.
360
361 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>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_10a8f8c1383fdf94.png?rev=1.1]]__.
362
363 [[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_c84670518f0b6362.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_c84670518f0b6362.gif"]]
364
365 Figure 7-3 Notch characteristics, notch width, and notch depth
366
367 [[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_10a8f8c1383fdf94.png?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_10a8f8c1383fdf94.png"]]
368
369 Figure 7-4 Frequency characteristics of notch filter
370
371 (% class="table-bordered" %)
372 |(% 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 **Setting method**
374 )))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
375 **Effective time**
376 )))|(% style="text-align:center; vertical-align:middle; width:107px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:97px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:334px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
377 |(% 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" %)(((
378 Operation setting
379 )))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
380 Effective immediately
381 )))|(% style="text-align:center; vertical-align:middle; width:107px" %)300|(% style="text-align:center; vertical-align:middle; width:97px" %)250 to 5000|(% style="width:334px" %)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" %)Hz
382 |(% 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" %)(((
383 Operation setting
384 )))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
385 Effective immediately
386 )))|(% style="text-align:center; vertical-align:middle; width:107px" %)100|(% style="text-align:center; vertical-align:middle; width:97px" %)0 to 100|(% style="width:334px" %)(((
387 0: all truncated
388
389 100: all passed
390 )))|(% style="text-align:center; vertical-align:middle" %)-
391 |(% 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" %)(((
392 Operation setting
393 )))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
394 Effective immediately
395 )))|(% style="text-align:center; vertical-align:middle; width:107px" %)4|(% style="text-align:center; vertical-align:middle; width:97px" %)0 to 12|(% style="width:334px" %)(((
396 0: 0.5 times the bandwidth
397
398 4: 1 times the bandwidth
399
400 8: 2 times the bandwidth
401
402 12: 4 times the bandwidth
403 )))|(% style="text-align:center; vertical-align:middle" %)-
404 |(% 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" %)(((
405 Operation setting
406 )))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
407 Effective immediately
408 )))|(% style="text-align:center; vertical-align:middle; width:107px" %)500|(% style="text-align:center; vertical-align:middle; width:97px" %)250 to 5000|(% style="width:334px" %)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" %)Hz
409 |(% 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" %)(((
410 Operation setting
411 )))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
412 Effective immediately
413 )))|(% style="text-align:center; vertical-align:middle; width:107px" %)100|(% style="text-align:center; vertical-align:middle; width:97px" %)0 to 100|(% style="width:334px" %)(((
414 0: all truncated
415
416 100: all passed
417 )))|(% style="text-align:center; vertical-align:middle" %)-
418 |(% 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" %)(((
419 Operation setting
420 )))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
421 Effective immediately
422 )))|(% style="text-align:center; vertical-align:middle; width:107px" %)4|(% style="text-align:center; vertical-align:middle; width:97px" %)0 to 12|(% style="width:334px" %)(((
423 0: 0.5 times the bandwidth
424
425 4: 1 times the bandwidth
426
427 8: 2 times the bandwidth
428
429 12: 4 times the bandwidth
430 )))|(% style="text-align:center; vertical-align:middle" %)-
431
432 Table 7-11 Notch filter function code parameters