Solution for Static Position Error During Constant Speed Operation of iSV57T

Increase Rigidity

The primary task is to address the issue at the mechanical level: inspect and tighten all mechanical connections such as couplings, ball screws, and linear guides between the motor and the load to ensure there is no looseness or backlash. The more robust the mechanical structure, the better the system rigidity and its ability to resist position deviation.

In the drive parameters, increase the Position Loop Proportional Gain (P gain). This embodies "electronic rigidity." Increasing the P value makes the motor respond to position deviations more quickly and decisively, thereby reducing the steady-state error.

While ensuring the motor runs smoothly, appropriately increase the following parameters. Remember to send and save after modification.

Note that these parameters require fine-tuning; test the results gradually. Increase P1.00 and P1.01 slightly, and then adjust P1.02 (increasing or decreasing it) based on the observed effect of the first two.

Reduce Speed

During the commissioning phase, appropriately reduce the operating speed. Higher speeds require greater torque to overcome inertia and friction, making following error more likely to occur. First, run at a lower speed to ensure the error is within an acceptable range, then gradually increase the speed while monitoring the system's performance.

Reduce Deceleration

Optimize the motion profile: Set the acceleration and deceleration times of the motion command to be more gradual. An excessively rapid deceleration process causes the system to endure significant inertial shock, which can easily lead to overshoot or oscillation. These instabilities affect the smoothness of the constant speed phase. A smooth deceleration process contributes to overall system stability.

Updated on: 30/10/2025