Yaskawa Sigma Mini - Manual (Page 253)

A.2 Adjusting a Speed-control Servopack
— A-7 —
Adjustment Procedure
1) Set the position loop gain at the host controller to a low value and increase the speed loop
gain (Cn-04) within the range that no abnormal noise or vibration occurs.
If adjustment of the position loop gain is not possible at the host controller, reduce the
speed reference gain (Cn-03).
2) Slightly reduce the speed loop gain from the value at step 1, and increase the position
loop gain at the host controller in the range that no overshooting or vibration occurs.
If adjustment of the position loop gain is not possible at the host controller, increase the
speed reference gain (Cn-03).
3) Determine the speed loop integration time constant (Cn-05), by observing the positioning
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 tor-
sional resonance occurs in the machine shafts.
Torsional resonance may be indicated by a high vibration noise. Adjust the torque refer-
ence 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.
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