Yaskawa SGDH Linear Sigma Series - Manual (Page 330)

10 Adjustments
10.2.4 Machine Rigidity Setting for Online Autotuning
10-8
10.2.4 Machine Rigidity Setting for Online Autotuning
There are ten machine rigidity settings for online autotuning. When the machine rigidity setting is selected, the
servo gains (Speed Loop Gain, Speed Loop Integral Time Constant, Position Loop Gain, and Force Reference
Filter Time Constant) are determined automatically. The factory setting for the machine rigidity setting is 4. The
speed loop is suitable for PI or I-P control.
When parameter Pn10B.1 is 0, PI control will be used and when Pn10B.1 is 1, I-P control will be used. To
validate the setting, however, the power supply must be turned OFF and then back ON.
After having validated the setting, always set the machine rigidity setting.
When setting the machine rigidity after having changed the position loop gain (Pn102), the value closest to the
set position loop gain is displayed as the initial value of machine rigidity.
• Speed Loop PI Control
If the machine rigidity setting is greater, the servo gain will increase and positioning time will decrease. If the
setting is too large, however, vibration may result depending on the machine configuration. Set the machine
rigidity starting at a low value and increasing it within the range where vibration does not occur.
Machine Rigidity
Setting
Fn001
Position Loop Gain
[s -1 ]
Pn102
Speed Loop Gain
[Hz]
Pn100
Speed Loop Integral
Time Constant
[0.01 ms]
Pn101
Force Reference Fil-
ter Time Constant
[0.01 ms]
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