Tuning Method
The general process of gain adjustment is shown in the following figure:
The SV3 series servo provides three gain adjustment modes, namely "automatic gain adjustment", "manual gain adjustment", and "gain automatic switching". Among them,
- The "automatic gain adjustment" method only requires setting one parameter, P1A group - "response level setting", to achieve the linkage setting of multiple internal gain parameters and achieve the desired response action. The higher the response level, the faster the response; For detailed introduction, please refer to section 4.2.4 on automatic gain adjustment.
- Manual gain adjustment "requires the user to turn off the automatic gain adjustment mode P1A group -" Real time Self adjustment Setting "set to" 0-off ", and sequentially set P06 gain parameters, including speed loop and position loop gain parameters, from the inner loop to the outer loop, to achieve the desired response performance;
- Manual gain adjustment "requires the user to turn off the automatic gain adjustment mode P1A group -" Real time Self adjustment Setting "set to" 0-off ", and sequentially set P06 gain parameters, including speed loop and position loop gain parameters, from the inner loop to the outer loop, to achieve the desired response performance;
To achieve good tracking performance, the prerequisite for the above three gain adjustment methods is to execute a rigorous "mechanical load recognition" program. The SV3 series servo has a built-in mechanical load recognition algorithm, which can automatically identify the mechanical load situation through positive and negative operation. The following will introduce the contents of mechanical load recognition, manual gain adjustment, automatic gain adjustment, and gain switching in sequence.