Yaskawa MP940 Reference Manual - Manual (Page 273)

MotionSuite™ MP940 Machine Controller Reference Manual SGDH User Parameters
6-73
Pn111
Speed Feedback
Compensation*2
(continued) %1 ~ 500 Speed loop gain unit: Hz
Verify the unit when setting the speed loop
integral time constant (Pn101). The setting
unit of Pn101 is 0.01ms.
The setting values for the speed loop gain
and torque loop gain are equivalent even
though their respective setting units are
(Hz) and (1/S). 100 Speed
Position
Repeat procedure 2, then raise the speed
gain while observing the settling time in
position deviation as well as the occur-
rence of vibration in the torque command.If
a vibration noise is generated, or if the
vibrations increase, increase the torque
reference filter time constant (Pn104) in
small increments.
Then, in small increments, raise the posi-
tion gain only. Raise the gain to approxi-
mately the assumed limit, and enter the
next step. Lower the speed feedback com-
pensation (Pn111) from 100% to 90%. In
the above state, repeat procedures 2 and
3.
Further reduce the speed feedback com-
pensation from 90%, and repeat proce-
dures 2 ~ 4, thereby shortening the settling
time. However, the response waveform
becomes prone to oscillation if the speed
feedback compensation is lowered too
much.
Search for conditions where the shortest
setting time is achieved within a range a
vibratory or unstable state does not arise in
either the position deviation or torque
waveform observed in the analog monitor.
Servo gain adjustment is complete when a
shorter positioning time cannot be
obtained.
Gain Related Parameters (Continued)
User
Parameter
Number
Digital
Position
Name
(setting
range)
Content
Default
Setting
Control
Mode