Yaskawa MP930 - Manual (Page 208)

5.2 Parameter Settings
5 -23
Parameter
No.
Default Description Register
No.
Name
15 Position loop gain OWxx10 Sets position loop gain for the servo system.
Position loop gain is needed to set response performance for the
servo system and is valid when the KPS motion command is
executed.
The following are setting guidelines.
400
40 to 250
Excellent response (Watch for
hunting.)
Ordinary response
Set a value appropriate for machine rigidity and inertia as well as
the type of Servomotor.
S Setting range: 1 to 32767 [0.1/s]
16 Feed forward gain OWxx11 Reduces positioning time by applying feed forward control.
S Setting range: 0 to 200 [%]
Position reference and actual position errors decrease with higher
settings.
The machine may start to vibrate if the setting is too high.
0
17 Position reference pulse OLxx12 It does not set the reference value (target position) as is, but rather
adds a value to XREF to create a new XREF that is used to deter-
mine the amount of incremental movement.
S Setting range: −2 31 to 2 31 (1 = 1 reference unit)
0
18 Averaged number of rev-
olutions OWxx14 S Setting range: 0 to 65535 (1 = 1 ms) 0
19 to 25 − OWxx15
to
OWxx1C Not used. −
26 Speed loop gain OWxx1D This parameter is proportional gain for the speed controller.
Set the parameter at 400 or less when operating the Servomotor
under no-load conditions.
S Setting range: 1 to 32767 (1 = 0.1 Hz)
400
27 − − Not used. −
5