Yaskawa SGDB - Manual (Page 129)

3.6 Minimizing Positioning Time
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3.6 Minimizing Positioning Time
This section describes how to minimize positioning time.
3.6.1 Using Autotuning Function
If speed loop gain and position loop gain for the servo system are not set properly, posi-
tioning may become slow. Techniques and experience are required to set these servo
gain values according to machine configuration and machine rigidity.
Σ-series SERVOPACKs have an autotuning function that automatically measures ma-
chine characteristics and sets the necessary servo gain values. With this function, even
first-time servo users can easily perform tuning for servo gain. Servo gain values are set
in parameters.
The following parameters can be automatically set by the autotuning function.
Parameter Meaning
Cn-04 Speed loop gain
Cn-05 Speed loop integration time constant
Cn-1A Position loop gain
For details of how to perform autotuning, refer to Section 4.2.3 Autotuning
3.6.2 Setting Servo Gain
Check and reset the servo gain when:
• Automatically set servo gain values need to be checked after autotuning.
• Each servo gain value checked as described above is to be directly set for another
SERVOPACK.
• Response performance needs to be further enhanced after autotuning, or servo gain
values need to be reset for a system with lower response performance.
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