86Chapter 8 Control Performance8.1 Driver Performance TuningFig. 8-1 Schematic diagram for control loop adjustmentAs shown in Fig. 8-1, a typical servo system contains three control loops, namely, a position loop, avelocity loop, and a current loop.Current loops are related to motor parameters (optimal parameters of the selected motor are default forthe driver and no adjusting is required).Parameters for velocity loops and position loops should be adjusted properly according to loadingconditions.During adjustment of the control loop, ensure that the bandwidth of the velocity loop is at least twice ofthat of the position loop; otherwise oscillation may occur.8.1.1 Manual Adjustment1. Parameters for velocity loopTable 8-1 Parameters for velocity loopNumericDisplayVariable Name Meaning DefaultValueRanged2.01 Kvp Sets the response speed of a velocity loop 100 0~32767d2.02 Kvi Adjusts speed control so that the time ofminor errors is compensated2 0~16384
