Yaskawa FSP Amplifier - Manual (Page 177)

FSP Amplifier User’s Manual Chapter 6: Servo Adjustment
6-10
6.2.10. Gain Setting Reference Values
This section describes servo gain reference values.
Refer to the following for optimal gain adjustments according to the
rigidity of the mechanical system. Refer to these values and use the
previously mentioned methods to make gain adjustments. These values are
for reference only and do not mean that the mechanical system has good
response characteristics or is free from oscillation in the specified ranges.
Observe the response by monitoring the response waveform and make the
optimal gain adjustments. If the rigidity of the machinery is high, gain
increments exceeding the described ranges are possible.
„ Machines with High Rigidity
These machines are directly connected to ball screws.
Examples: Chip mounting machine, bonding machine, and high-precision
machine tool
Speed Loop Gain (Pn100)
Speed Loop Integral Time Constant
(Pn101)
50 to 70 Hz 5 to 20 ms
„ Machines with Medium Rigidity
Machines driven by ball screws through speed reducers or long-length
machines directly driven by screws.
Examples: General machine tool, transverse robot, and conveyor
Speed Loop Gain (Pn100)
Speed Loop Integral Time Constant
(Pn101)
30 to 50 Hz 10 to 40 ms
„ Machines with Low Rigidity
These machines are driven by timing belts, chains or machines with
harmonic gear reducers.
Examples: Conveyor and articulated robot
Speed Loop Gain (Pn100)
Speed Loop Integral Time Constant
(Pn101)
10 to 20 Hz 50 to 120 ms