6.8 Gain adjustment
6.8.1 Model loop control
In the self-tuning mode, in addition to the gain of speed loop and position loop, there is also the gain of
model loop, which has a great influence on the servo response. When the model loop is not open, the
servo responsiveness is determined by the position loop gain. When the model ring is open, the servo
responsiveness is determined by the model loop gain. The model loop is equivalent to the feedforward
function in the driver control loop. Refer to 6.5 manual adjustment for its specific function.
When the self-tuning mode is soft, the model loop function will be automatically off. When the
self-tuning mode selects fast positioning or fast positioning (control overshoot), the model loop
function will be automatically turned on.
Self-tuning mode:
Quick positioning (control
overshoot)
Selection of self-tuning mode:
(1) Soft (P2-02.0 = 1):
This mode does not turn on the gain of the model loop, and the operation is soft. It is suitable for
occasions with insufficient mechanical rigidity and low response requirements.
(2) Quick positioning (P2-02.0 = 2):
This method has the fastest response to setting parameters, but has no special suppression on overshoot.
(3) Quick positioning (control overshoot) (P2-02.0 = 3):
In this way, the setting parameter response is fast, which will inhibit the overshoot.
The adjustment is suitable for the mechanism with lower rigidity such as
synchronous belt mechanism.
It is suitable for the adjustment of high rigidity mechanism such as ball screw
mechanism. Please select this type when there is no corresponding structure.
The adjustment is suitable for rigid body system and other mechanisms with high
rigidity.
Soft gain adjustment. In addition to gain adjustment, the notch filter is also adjusted
automatically
Make special adjustment for positioning purpose. In addition to gain adjustment, the
model loop gain and notch filter are also adjusted automatically
fast positioning
(control
overshoot)
Pay attention to the adjustment of no overshoot in the positioning purpose. In
addition to gain adjustment, the model loop gain and notch filter are also adjusted
automatically
fast positioning (control overshoot)
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