Lenze E94P PositionServo with MVOB - Manual (Page 59)

S94H201E_13426446_EN L 57
Parameters
5.9.3 Position P-gain (proportional)
Position P-gain adjusts the system’s overall response to position error. Position error is the difference
between the commanded position of the motor shaft and the actual shaft position. By adjusting the
proportional gain, the bandwidth of the drive is more closely matched to the bandwidth of the control signal,
ensuring more precise response of the servo loop to the input signal.
5.9.4 Position I-gain (integral)
The output of the Position I-gain compensator is proportional to accumulative error over cycle time, with
I-gain controlling how fast the error accumulates. Integral gain also increases overall loop gain at the lower
frequencies, minimizing total error. Thus, its greatest effect is on a system running at low speed, or in a
steady state without rapid or frequent changes in position.
5.9.5 Position D-gain (differential)
The output of the Position D-gain compensator is proportional to the difference between the current position
error and the position error measured in the previous servo cycle. D-gain decreases the bandwidth and
increases the overall system stability. It is responsible for removing oscillations caused by load inertia.
5.9.6 Position I-limit
The Position I-limit will clamp the Position I-gain compensator to prevent excessive torque overshooting
caused by an over accumulation of the I-gain. It is defined in terms of RPM. This is especially helpful when
position error is integrated over a long period of time.
5.9.7 Gain Scaling Window
Sets the total velocity loop gain multiplier (2n) where n is the velocity regulation window. If, during motor
tuning, the velocity gains become too small or too large, this parameter is used to adjust loop sensitivity. If
the velocity gains are too small, decrease the total loop gain value, by deceasing this parameter. If gains are
at their maximum setting and you need to increase them even more, use a larger value for this parameter.
5.9.8 Disable High Performance Mode
If the box is checked, the drive uses the gain modeling algorithm from hardware revision 1 of the PositionServo.
This setting is enabled by default to facilitate the replacement of legacy platform 940/941(hardware revision
1) installations without re-tuning. This setting should be de-selected for best results with Auto Tuning.
5.9.9 Auto Tuning
Click the [Autotuning] button to access the Auto Tuning parameter. this parameter auto tunes the
compensation gains for the motor/load applied.
NOTE
For best results, de-select [Disable High Performance Mode] prior to auto tuning.