5-61
5-5-3 Improving Resonance
z The Servo drive provides the function of Gain Switching and Position Loop Feed-Forward
Gain to improve system response.
Note: Both of these features must be used correctly to improve system response, otherwise
the response will become worse. Refer to the description below:
Gain Switch
Following Gain Switching features are provided:-
a) Speed Loop Gain PI/P Switching
b) 2-stage Gain Switching.
Purposes list:
(1) To restrict overshoot during acceleration/deceleration in speed control.
(2) Reducing the in position oscillations and providing shorter settling time in
position control.
(3) Decrease the noise caused when using Servo Lock.
For further details refer to section 5-3-11.
Position Loop Feed-Forward Gain
Position Loop Feed-Forward Gain can be used to reduce the error result from
position control and improve the response speed.
Position loop Feed forward gain and position loop gain should be matched with. If
adjusting to higher position loop gain, the feed fordward gain can be ignored.
Oppositly, if the loop gain value is setting for a relatively low level, adjust position
loop feed forward gain will improve system response time obviously.
The adjustment steps are as follows:
Step 1: Refer to the procedures in sections 5-5-1~5-5-2 to adjust Speed and Position
Gain.
Step 2: Increase Pn312 (Position Feed-Forward Gain) slowly, and observe the INP
(Output Signal of In Position) at the same time and INP output should be
activated faster.
Note: The Position Loop Feed-Forward Gain can not be set too high, otherwise it will
cause speed overshooting and INP (In Position output signal) will be switching
On/Off repeatedly.
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