Parker Hannifin
P Series User Guide 110
Figure 31. Position Response Types
Identify the six basic types of position responses. The primary difference among these
responses is due to damping—the suppression (or cancellation) of oscillation.
5.3.3 Performance Measurements
If you plot of the position response versus time, you can make a few measurements to
quantitatively assess the performance of the servo. These three measurements are made
before or shortly after the motor stops moving:
• Overshoot— the measurement of the maximum magnitude that the actual position
exceeds the position set-point. It is usually measured in terms of the
percentage of the set-point value.
• Rise Time— The time it takes the actual position to pass the Set-point.
• Settling Time—the time between when the commanded position reaches the set-point
and the actual position settles within a certain percentage of the position
set-point. (Note the settling time definition here is different from that of a
control engineering text book, but the goal of the performance
measurement is still intact.).
5.4 Automatic Gain Tuning (Off-line)
You can automatically set gains corresponding to the load conditions, using commands
generated by the drive itself. The gain-related parameters subject to change are as follows.
Inertia, inertia ratio, position loop gain, speed loop gain, speed integral time constant,
torque command filter time constant, notchfilter3frequency, notch filter frequency.
The overall gain is set to either high or low, depending on the set value of the system
rigidity for gain tuning. Please set the appropriate value depending on the rigidity of the
load being operated.
As shown in the figure below, commands in the sinusoidal form are generated either in the
forward or reverse direction depending on the set value of the offline gain tuning direction.
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