Yaskawa Sigma Mini - Manual (Page 94)

APPLICATIONS
2.6.2 Servo Gain cont.
— 2-50 —
Cn-04 and Cn-05 are a speed loop gain and an in-
tegration time constant for the Servopack, respective-
ly.
The higher the speed loop gain value or the smaller the speed loop integration time constant
value, the higher the speed control response. There is, however, a certain limit depending on
machine characteristics.
These parameters are automatically set by the autotuning function.
The unit of speed loop integration time constant Cn-05 (Ti) can be changed to 0.01 ms.
Setting Position Loop
Set the following parameters related to position loop as necessary.
Cn-1A
POSGN
Position Loop Gain (Kp)
Unit:
1/s
Setting
Range: 1
to 200
Factory
Setting:
40
For Speed/Torque
Control and Position
Control
This parameter is a position loop gain for the Servo-
pack.
Increasing the position loop gain value provides posi-
tion control with higher response and less error. How-
ever, there is a certain limit depending on machine
characteristics.
This parameter is automatically set by the autotuning function.
Cn-1E
OVERLV
Overflow
Unit: 256
References
Setting
Range: 1
to 65536
Factory
Setting:
1024
For Position Control
Set in this parameter the error pulse level at which a
position error pulse overflow alarm (alarm A.31) is de-
tected.
If the machine permits only a small position loop gain
value to be set in Cn-1A, an overflow alarm may arise
during high-speed operation. In this case, increase
the value set in this parameter to suppress alarm
detection.
2
Speed
reference
Speed loop gain
Speed feedback
Position
reference
Position loop gain
Position feedback
Positions
Normal control
Error pulse
Cn-1E
OVERLV
(Alarm A.31)
(Alarm A.31)