Lenze IMSS500+ Simple Servo 500 600 i1000 - Manual (Page 51)

SimpleServo 500/600/i1000 User Manual Rev 3.4
6.6 Compensation group
This group includes two subgroups: Velocity Loop Filter and Position Loop Filter.
6.6.1 Velocity Loop Filter
Note
Velocity loop filter settings are only active if the drive operates in Velocity mode or in Step
& Direction/Position P+V mode. It has no effect in Step & Direction/Position PIVFF or
Current mode.
• P-gain (Proportional)
Proportional gain adjusts the system's overall response to velocity error. Velocity error is the
difference between the commanded velocity of a motor shaft and the actual shaft velocity. 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.
• I-gain (Integral)
The output of the I-term portion of the integral gain compensator is proportional to accumulative error
over cycle time, with I-term 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 velocity.
6.6.2 Position Loop Filter
Note
Position loop filter settings only active if drive operates in Step & Direction PIVFF mode. It
has no effect in Velocity or Current mode.
• P-gain (Proportional)
Proportional 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.
• I-gain (Integral)
The output of the I-term portion of the integral gain compensator is proportional to accumulative error
over cycle time, with I-term 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.
• D-gain (Differential)
The output of the D-term portion of the filter proportional to difference between current position error
and position error measured in previous servo cycle. D-term decreases bandwidth and increases
overall system stability. It responsible for removing oscillation caused by load inertia and acts similar to
shock-absorber in a car.
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