Hiwin D2 User Manual

D2 Drive User Guide v1.8 6. Drive Tuning
HIWIN Mikrosystem Corp. 186
(1) Velocity loop
Gains of velocity loop are vpg and vig, where vpg is the proportional gain of velocity
loop and vig is the integral gain of velocity loop.
- vpg: Tuning vpg affects the transient response of velocity loop and increase the
bandwidth of velocity loop.
- vig: Tuning vig affects the steady-state error of velocity loop, but the excessive
adjustment may cause the system instability.
(2) Position loop
The proportional gain of position loop is ppg.
- ppg: Tuning ppg affects the transient response of position loop and increase the
bandwidth of position loop.
6.7.5. Spectrum analysis
“Loop constructor” provides the gain margin, phase margin, and bandwidth of velocity loop
and position loop. This function can be used to tune gains to simulate the stability of control
system after gain tuning, as shown in Fig. 6-58. Here, “P margin” is the phase margin, and “G
margin” is the gain margin. Refer to Section 3.6 for more information.
Fig. 6-58 Loop constructor - P margin and G margin

Hiwin D2 Specifications

General

Brand	Hiwin
Model	D2
Category	DC Drives
Language	English