Gain Adjustment in Servo Motors

Position Control Mode in Servo Motors

Servo Motor, In position control mode, the speed proportional gain parameter must be increased until vibration begins. Generally, a high speed gain value must be entered for high inertia. This parameter reduces start-up, stop, and road vibrations.

The speed integral time constant of the servo motor must be reduced until vibration begins. This parameter improves surface machining quality in CNC routers.

The position feedforward gain should be set to 0%. The position proportional gain should be set as high as possible within the range where the servo motor is stable. If it is increased excessively, the position capture values will increase. The line characteristic improves, delay errors are minimized, but vibration may start during stopping.

◦Servo Motor: If high precision is required on surface lines, the position feedforward gain can be increased. If it is set too high, malfunctions may occur. Servo Motor position gain parameter values can be used as follows.

Determination	Position gain value
Low stability	10~20/S
Moderate stability	30~50/S
High stability	50~70/S

Experimental Parameter Values in Servo Motors

The factory setting for parameter 5 is 150. It can be increased from 150 to 260. If the vibration persists, parameter 6 can be increased up to 140.

A suitable value for Parameter 6 is between 15 and 60. It should be lowered as much as possible. The factory default value is 20.

Parameter 9 is the last PID parameter to be set. The Servo Motor Parameter 9 setting should be increased as much as possible. The range value is 40 ~ 330.