Xinje DF3E Series User Manual

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5.5 Manual adjustment
5.5.1 Overview
error
counter
Position
loop gain
Kp
Speed
control Kv,
Ti
Torque
instruction
filter Tf
Current
control
M
PG
Servo motor
encoder
Current loop
Speed loop
Speed
instruction
Position
loop
+
-
+
-
+
-
Pulse
instruction
Upper device Servo unit
Position
control loop
Speed
control loop
Position control loop diagram (shut down the model loop)
Error
counter
Position
loop gain
Kp
Speed
control Kv,
Ti
Torque
instruction
filter Tf
Current
control
M
PG
Servo motor
encoder
Current loop
Speed loop
Speed
instruction
Position
loop
+
-
+
-
+
-
Pulse instruction
Upper device
Servo unit
Position
control loop
Speed
control loop
Model
loop
Torque
feedforward
Speed
feedforward
Position control loop diagram (turn on the model loop)
Servo unit consists of three feedback loops (current loop, speed loop and position loop) from inside to outside.
The more inner loop, the more responsive it is. Failure to comply with this principle will result in poor response or
vibration. Among them, the current loop parameters are fixed values to ensure adequate responsiveness, and users
do not need to adjust.
Please use manual adjustment in the following occasions:
• When the expected effect can not be achieved by fast adjusting the gain
• When the expected effect is not achieved by automatically adjusting the gain
5.5.2 Adjustment steps
In position mode, if the soft mode (P2-02.0=1) is selected by auto-tuning, the function of model loop will be
turned off; in speed mode, the gain of position loop will be invalid.
Increasing response time
1. Reducing the filter time constant of torque instruction (P2-35)
2. Increasing Speed Loop Gain (P1-00)

Xinje DF3E Series Specifications

General

Brand	Xinje
Model	DF3E Series
Category	Servo Drives
Language	English