Yaskawa Sigma Mini - Manual (Page 261)

A.4 Gain Setting References
— A-15 —
When a speed-control Servopack is used, set the position loop gain at the host controller.
If the position loop gain cannot be set at the host controller, adjust the Servopack speed refer-
ence gain (Cn-03).
The position loop gain (Cn-1A) of a speed-control Servopack is valid in zero-clamp mode
only.
The position loop gain is determined from the following relationship.
K
P
[1/s]: Position loop gain
VS [PPS]: Steady speed reference
ε: (pulse): Steady error
(The number of pulses in the error counter at steady speed.)
K
p
= VS
Á
A