Yaskawa SGDB - Manual (Page 553)

A.2 Adjusting a Speed-control SERVOPACK
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3. Determine the speed loop integration time constant (Cn-05), by observing the posi-
tioning setting time and vibrations in the mechanical system.
The positioning setting time may become excessive if the speed loop integration time
constant (Cn-05) is too large.
4. It is not necessary to change the torque reference filter time constant (Cn-17) unless
torsional resonance occurs in the machine shafts.
Torsional resonance may be indicated by a high vibration noise. Adjust the torque ref-
erence filter time constant (Cn-17) to reduce the vibration noise.
5. Finally, fine adjustment of the position gain, speed gain, and integration time constant
is required to determine the optimum point for step response.
A