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Speed Loop Gain<br />
Speed Loop Gain has a direct effect on the response Bandwidth of Speed Control Loop.<br />
Under the condition of no vibration or noise, when higher is the Speed Loop Gain Value is setting speed<br />
response is becoming faster.<br />
If Cn025 (Load Inertia Ratio) is correctly set then,<br />
Speed Loop Bandwidth = Sn211 (Speed Loop Gain1) or Sn213 (Speed Loop Gain2).<br />
Load Inertia Ratio Formula is as below:<br />
Speed Loop Integration Time Constant<br />
Integral element in Speed Control Loop eliminates the steady state error.<br />
Under the condition of no vibration or noise, reducing the speed loop Integral Time Constant can enhance<br />
system rigidity. If the Load Inertia Ratio is very high or the system has vibration factors, ensure that the Speed<br />
Loop Integral Time Constant is also high enough, otherwise the mechanical system would produce<br />
resonance easily.<br />
Integral Time Constant for Speed Loop can be set using the formula below:<br />
1<br />
Sn212(Integral<br />
Time constant 1of Speed Loop) ≥ 5×<br />
2π<br />
× Sn211(Speed Loop Gain 1)<br />
Setting Example:<br />
Assume: Cn025 (Load Inertia Ratio) is correctly set, If target Speed Loop Bandwidth 100Hz,<br />
set Sn211(Speed Loop Gain 1)=100(Hz) then<br />
1<br />
Sn212 (Integral Time Constant 1of Speed Loop) ≥ 5×<br />
= 40 ( × 0.2msec)<br />
2π<br />
× 100<br />
5-55
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