Yaskawa Sigma II Series Servo System - Manual (Page 259)

Sigma II User’s Manual Chapter 6: Servo Adjustment
6 - 27
6.3.2 Mechanical Rigidity Settings for Online Auto-Tuning
For the mechanical rigidity settings at the time of online auto-tuning, select the target
values for speed loop gain and position loop gain of the servo system. Any of the
following ten levels of rigidity can be selected.
Note: The Rigidity value is default set to 4.
As the rigidity value is increased, the servo system loop gain increases and the time
required for positioning is shortened. If the rigidity is excessively high, however, it
may cause the machinery to vibrate. In that case, decrease the set value.
The rigidity value setting automatically changes the parameters in the above table.
Note: If parameters Pn102, Pn100, Pn101, and Pn401 are set manually with the online auto-tuning function
enabled, tuning is performed with the manually set values as target values.
Changing the Rigidity Setting
Use parameter Fn001 in the auxiliary function mode to change the rigidity setting.
The procedure for changing the setting is as follows:
Using the Hand-held Digital Operator
1. Press the MODE/SET key and select Fn001 in the auxiliary function mode.
2. Press the DATA/ENTER key. The following data will be displayed.
Fn001
Rigidity
Setting
Position Loop
Gain
[s -1 ]
Speed Loop
Gain
[Hz]
Speed Loop
Integral Time
Constant
[0.01ms]
Torque
Reference Filter
Time Constant
[0.01ms]
Pn102 Pn100 Pn101 Pn401
1 15 15 6000 250
2 20 20 4500 200
3 30 30 3000 130
4 40 40 2000 100
5 60 60 1500 70
6 85 85 1000 50
7 120 120 800 30
8 160 160 600 20
9 200 200 500 15
10 250 250 400 10