Yaskawa SGDS Sigma III Servo Amplifier - Manual (Page 267)

8 Adjustments
8.6.8 Less Deviation Control
8-40
8.6.8 Less Deviation Control
Less Deviation Control can provide shorter settling times and lower locus tracking errors by reducing the
position error as much as possible for the position control mode. There are two kinds of Less deviation control:
Basic Less deviation and Less Deviation control with reference filter. Operation can be adjusted easily with
utility function Fn015 (One-parameter Tuning for Less Deviation Control.) If higher performance operation is
required, the settings can be fine-tuned with the parameters.
Example Response Waveforms for Less Deviation Control
(1) Related Parameters
Example Response Waveform
for Less Deviation Control
Example Response Waveform
for Less Deviation Control with Reference Filter
Position
Position
Error
Time
Time
Position reference
(Host reference)
Using Less Deviation
Control
Using Less
Deviation Control
Not using Less
Deviation Control
Not using Less
Deviation Control
Position
Position
Error
Time
Time
Position reference
(Host reference)
Using Less Deviation Control
with Reference filter
Using Less Deviation Control
with Reference filter
Not using Less Deviation Control
with Reference Filter
Not using
Less Deviation Control
Pn119 Reference Filter Gain
Setting Range Setting Unit Factory Setting Setting Validation
1.0 to 2,000.0 /s 0.1 /s 50.0 /s Immediately
Pn11A Reference Filter Gain Compensation
Setting Range Setting Unit Factory Setting Setting Validation
50.0% to 200.0% 0.1% 100% Immediately
Pn11E Reference Filter Bias (Forward)
Setting Range Setting Unit Factory Setting Setting Validation
0.0% to 1,000.0% 0.1% 100% Immediately
Pn144 Reference Filter Bias (Reverse)
Setting Range Setting Unit Factory Setting Setting Validation
0.0% to 1,000.0% 0.1% 100% Immediately
Pn1A0 Servo Rigidity
Setting Range Setting Unit Factory Setting Setting Validation
1% to 500% 1% 60% Immediately
Pn1A1 Servo Rigidity #2
Setting Range Setting Unit Factory Setting Setting Validation
1% to 500% 1% 60% Immediately
Position
Position
Position
Position
Position
Position