Yaskawa SGDB - Manual (Page 561)

A.4 Gain Setting References
553
When a speed-control SERVOPACK is used, set the position loop gain at the host con-
troller.
If the position loop gain cannot be set at the host controller, adjust the SERVOPACK
speed reference gain (Cn-03).
The position loop gain (Cn-1A) of a speed-control SERVOPACK is valid in zero-clamp
mode only.
The position loop gain is determined from the following relationship.
K
P
[1/s]: Position loop gain
V
S
[PPS]: Steady speed reference
ε: (pulse): Steady error
(The number of pulses in the error counter at steady speed.)
K
P
=
V
S
Á
A