Lenze S94P01B2 - Manual (Page 45)

S94P01B2
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Parameters
5.9 Compensation
5.9.1 Velocity P-gain (Proportional)
Proportional gain adjusts the system’s overall response to a velocity error. The velocity
error is the difference between the commanded velocity of a motor shaft and the actual
shaft velocity as measured by the primary feedback device. 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.
5.9.2 Velocity I-gain (Integral)
The output of the velocity integral gain compensator is proportional to the accumulative
error over cycle time, with I-gain controlling how fast the error accumulates. Integral
gain also increases the 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.
NOTE
The following four position gain settings are only active if the drive is
operating in Position mode. They have no effect in Velocity or Torque
modes.
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 and acts similar to a shock-
absorber in a car.
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 percent of maximum drive velocity. This is especially helpful when position error is
integrated over a long period of time.