When selecting the control mode, pay attention to the motor speed and position requirements. The "Parameters and Control Methods of Servo Drivers" are described below. Since the controller is typically connected to other brands of servos, a bus-based PLC will be gradually introduced to connect to other brands of servo motors, stepper motors, linear motors, frequency converters, etc. What parameters are generally reasonable for servo driver settings?
1. Position Scale Gain
Set the proportional gain of the position loop regulator; a higher setting value results in higher gain and greater stiffness. Under the same frequency command pulse conditions, position hysteresis is smaller. However, excessively high values may lead to oscillation or over-adjustment; the parameter value is determined by the specific servo system model and load.
2. Position feedforward gain
Set the feedforward gain of the positioning loop; the larger the set value, the smaller the position lag under any frequency command pulse; a large feedforward gain of the position loop improves the high-speed response characteristics of the control system, but the system position will be unstable and prone to oscillation; when high response characteristics are not required, the parameter is usually set to 0:0-100%.
3. Increased speed ratio
Set the proportional gain of the speed regulator; the higher the setting value, the higher the gain and the greater the stiffness. The parameter value is determined based on the specific model of the servo drive system and the load value. Generally, the greater the load inertia, the larger the setting value; set the largest possible value when the system is free of oscillation.
4. Velocity integral time constant
Set the integral time constant of the speed controller; the smaller the set value, the faster the integral speed. The parameter value is determined based on the specific model of the servo drive system and the load. Generally, the greater the load inertia, the larger the set value; when there is no oscillation in the system, set the value as small as possible.
5. Velocity feedback filter coefficients
This setting determines the characteristics of the speed feedback low-pass filter; a higher value results in a lower cutoff frequency and lower noise from the motor. If the load inertia is large, the setting can be appropriately reduced. If the value is too high, the response will be slower and may cause oscillation; a lower value results in a higher cutoff frequency and a faster speed feedback response. If a higher speed response is required, the setting can be appropriately reduced.
Servo drivers? Since there are no servos, auto-tuning and advanced tuning cannot be demonstrated; other brands also lack auto-tuning capabilities. Therefore, auto-tuning will be added at a later, appropriate time. As for filters and gain adjustment, these are planned for later; please wait patiently.
