Yaskawa FSP Amplifier - Manual (Page 171)

FSP Amplifier User’s Manual Chapter 6: Servo Adjustment
6-4
The Velocity Command is first processed in order to smooth the operation.
The resulting Internal Speed Command is then compared with the actual
speed of the motor. The difference is then amplified and filtered to produce
a Torque and Current command for the Current Controller.
6.2.2. Parameters of the Velocity Control
The following parameters are related to Velocity Control:
Pn305 Æ Soft Start Acceleration time
Pn306 Æ Soft Stop Deceleration time
Pn103 Æ Inertia Ratio
Pn300 Æ Speed Reference Input gain
Pn100 Æ Speed Loop Gain
Pn101 Æ Speed Loop Integral Time constant
Pn401 Æ Torque Reference Filter Time Constant
Pn408.0 Æ Notch Filter activation
Pn409 Æ Notch Filter Frequency
Pn40A Æ Notch Filter Width
6.2.3. Setting the Input Gain
Pn300 defines the ratio between Analog Voltage and equivalent speed
command.
Normally, this parameter should be set so that a 10 Volt input will produce
a speed command slightly superior to the maximum allowable speed of the
system.
The units of that parameter are (0.01 Volt)/(Rated Speed)
Example: With the default setting 600,
a 6 Volt input will result in a rated speed command.