Yaskawa Sigma Mini - Manual (Page 103)

2.6Minimizing Positioning Time
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2) Speed loop compensation function is illustrated in the following block diagram:
Speed
reference
Current loop gain (Cn-04)
Speed loop integration time
constant (Cn-05)
Current
loop
Speed calculation
* Compensation gain (K) is in proportion to the compensation constant
(parameter Cn-28). Cn-28 = 0 shows no compensation status.
Motor
Compensation gain K*
2