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Speed Loop Gain
Speed Loop Gain has a direct effect on the response Bandwidth of Speed Control Loop.
Under the condition of no vibration or noise, when higher is the Speed Loop Gain Value is setting speed
response is becoming faster.
If Cn025 (Load Inertia Ratio) is correctly set then,
Speed Loop Bandwidth = Sn211 (Speed Loop Gain1) or Sn213 (Speed Loop Gain2).
Load Inertia Ratio Formula is as below:
Speed Loop Integration Time Constant
Integral element in Speed Control Loop eliminates the steady state error.
Under the condition of no vibration or noise, reducing the speed loop Integral Time Constant can
enhance system rigidity. If the Load Inertia Ratio is very high or the system has vibration factors, ensure
that the Speed Loop Integral Time Constant is also high enough, otherwise the mechanical system
would produce resonance easily.
Integral Time Constant for Speed Loop can be set using the formula below:
1)Gain Loop (Speed2
1
5Loop) Speed of 1constant Time (Integral
Sn211
Sn212
Setting Example:
Assume: Cn025 (Load Inertia Ratio) is correctly set, If target Speed Loop Bandwidth 100Hz, set Sn211
(Speed Loop Gain 1) =100(Hz) then
0.2msec)(04
1002
1
5Loop) Speed of 1Constant Time (Integral
Sn212
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