How to Set Up the Servo Driver? (8 Key Parameters)

Servo motors are often used in automation equipment, especially position control.

Most brands of servo motors have position control function.

The controller sends pulses to control the operation of the servo motor.

The number of pulses corresponds to the rotation angle and the pulse frequency corresponds to the speed (related to the setting of electronic gear).

When the parameters of a new system cannot work, first set the position gain to ensure that the motor is as large as possible without noise.

The moment of inertia ratio is also very important.

It can be referenced by the number set by self-learning, and then set the speed gain and speed integration time to ensure continuous operation at low speed and controlled position accuracy.

How To Set Up The Servo Driver

(1) Position proportional gain

Set the proportional gain of the positioning ring regulator.

The larger the setting value, the higher the gain and the greater the stiffness.

Under the condition of the same frequency command pulse, the smaller the position lag.

However, too large a value may cause oscillation or overshoot.

The parameter value is determined by the specific servo system model and load.

(2) Position feedforward gain

Set the feedforward gain of the positioning ring.

When the set value is larger, it means that under the command pulse of any frequency, the position lag is smaller, the feedforward gain of the position loop is larger, and the high-speed response characteristics of the control system are improved, but the position of the system will be unstable and prone to oscillation.

When high response characteristics are not required, this parameter is usually set to 0, indicating the range: 0 ~ 100%.

(3) Speed proportional gain

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 according to the specific servo drive system model and load value.

In general, the greater the load inertia, the greater the set value.

Under the condition that the system does not produce oscillation, try to set a larger value.

(4) Velocity integral time constant

Set the integral time constant of the speed regulator.

The smaller the setting value, the faster the integration speed.

The parameter value is determined according to the specific model and load of servo drive system.

In general, the greater the load inertia, the greater the set value.

Under the condition that the system does not produce oscillation, try to set a smaller value.

(5) Velocity feedback filter factor

Set the speed feedback low-pass filter characteristics.

The higher the value, the lower the cut-off frequency and the lower the noise generated by the motor.

If the load inertia is large, the set value can be appropriately reduced.

If the value is too large, the response will be slow, which may cause oscillation.

The higher the cutoff value, the faster the response.

If higher speed response is required, the set value can be reduced appropriately.

(6) Maximum output torque setting

Set the internal torque limit value of the servo driver.

The setting value is the percentage of rated torque.

At any time, this limit is effective to set the positioning completion pulse range under the position control mode.

This parameter provides the basis for the driver to judge whether the positioning is completed under the position control mode.

When the number of remaining pulses in the position deviation counter is less than or equal to the set value of this parameter, the driver considers that the positioning has been completed, and the in place switch signal is on, otherwise it is off.

In the position control mode, the position positioning completion signal is output, and the set value of acceleration and deceleration time constant indicates the acceleration time of the motor from 0 ~ 2000r / min or the deceleration time from 2000 ~ 0r / min.

The acceleration and deceleration characteristics are linear, and the arrival speed range is set. Under the non position control mode, if the speed of the servo motor exceeds the set value, the speed arrival switch signal is on, otherwise it is off.

This parameter is not used in position control mode. Independent of the direction of rotation.

Set Up The Servo Driver

(7) Manually adjust the gain parameters

Adjust the speed proportional gain KVP value.

After the servo system is installed, the parameters must be adjusted to make the system rotate stably.

First, adjust the speed proportional gain KVP value.

Before adjustment, the integral gain kvi and differential gain KVD must be adjusted to zero, and then the KVP value shall be gradually increased;

At the same time, observe whether there is enough oscillation when the servo motor stops, and manually adjust KVP parameters to observe whether the rotation speed is obviously fast and slow.

When KVP value is increased to produce the above phenomena, KVP value must be reduced to eliminate oscillation and stabilize rotation speed.

KVP value at this time is the preliminarily determined parameter value.

If necessary, after adjustment of KVI and KVP, repeated correction can be made to achieve the ideal value.

Adjust the integral gain KVI value.

Gradually increase the KVI value of the integral gain to gradually produce the integral effect.

From the above introduction to integral control, it can be seen that KVP value and integral effect will produce oscillation and instability when they increase to the critical value.

Just like KVP value, KVI value is adjusted back to small value to eliminate oscillation and stabilize rotation speed.

The KVI value at this time is the preliminarily determined parameter value.

Adjust the KVD value of differential gain.

The main purpose of differential gain is to make the speed rotate smoothly and reduce the overshoot.

Therefore, gradually increasing the KVD value can improve the speed stability.

Adjust the position proportional gain KPP value.

If the KPP value is adjusted too much, the motor positioning overshoot will be too large during servo motor positioning, resulting in instability.

At this time, the KPP value must be reduced to reduce the overshoot and avoid the unstable area;

However, it cannot be adjusted too small to reduce the positioning efficiency.

Therefore, be careful when adjusting.

(8) Automatically adjust gain parameters

Modern servo drivers have been computerized, and most of them provide the function of automatic gain adjustment, which can cope with most load conditions.

During parameter adjustment, you can use the automatic parameter adjustment function first, and then adjust manually if necessary.

In fact, automatic gain adjustment also has option settings.

Generally, the control response is divided into several levels, such as high response, medium response and low response.

Users can set it according to their actual needs.

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