The Speed Loop screen allows you to adjust the gain, inertia ratio, speed detection, and integral compensation parameters that make up the speed loop.
| Option | Function |
|---|---|
| Velocity Control Gain | P2.004 sets speed control gain in rad/s. Range is 0 to 8191. Note if this value is too high it may cause vibration and noise. |
| Speed Integral Compensation | P2.006 sets the speed integral compensation in rad/s. Range is 0 to 1023. |
| Speed Feed Forward Gain | P2.007 sets the speed feed forward gain percentage. Range is 0 to 100. |
| Speed Detection Filter | P2.049 sets the speed detection filter and jitter suppression in increments of 1ms. Range is 0.0 to 100.0. Note if the value is too high it may cause system instability. |
| Inertia Ratio | P1.037 sets the load inertia ratio to the servo motor. Range is 0.0 to 200.0 times. For example, a value of 1.5 sets the ratio at 1.5 times. |
You can load the current parameter values to the text boxes by clicking Read All Parameters.
Parameter data can be adjusted by typing a new value in the appropriate text box. The box can either be selected directly, or by clicking on the parameter in the speed loop flowchart. To update multiple parameters, click Write All Parameters to copy the parameter values to the servo.
To update specific parameters, click Write Selected Item(s). Selected parameters will be highlighted by a blue box, as shown below:
