Yaskawa FSP Amplifier - Manual (Page 168)

FSP Amplifier User’s Manual Chapter 6: Servo Adjustment
6-1
6. Servo Adjustment
This chapter describes the functions required for servo adjustment. Find the
required information by selecting the section from the following table of contents.
6.1. Selection of Control Mode............................................................................... 6-2
6.2. Analog Input or Contact Input Velocity Control ............................................. 6-3
6.2.1. Principle and Block Diagram of the Velocity Control............................. 6-3
6.2.2. Parameters of the Velocity Control.......................................................... 6-4
6.2.3. Setting the Input Gain .............................................................................. 6-4
6.2.4. Adjusting Offset....................................................................................... 6-5
6.2.5. Using the Soft Start Function................................................................... 6-6
6.2.6. Load Inertia Setting.................................................................................. 6-7
6.2.7. Adjusting Speed Loop Gain..................................................................... 6-8
6.2.8. Setting the Torque Reference Filter Time Constant ................................ 6-9
6.2.9. Notch Filter .............................................................................................. 6-9
6.2.10. Gain Setting Reference Values .............................................................. 6-10
6.3. NCT Position Control .................................................................................... 6-12
6.3.1. Load Inertia Setting................................................................................ 6-12
6.3.2. Position Control Block Diagram............................................................ 6-14
6.3.3. NCT Gain Parameters ............................................................................ 6-15
6.3.4. Additional Parameters Tuning ............................................................... 6-16
6.3.5. Filters ..................................................................................................... 6-16
6.3.6.
Flexible System Parameters................................................................... 6-18
6.3.7. Gain Factor............................................................................................. 6-18
6.3.8. Integral Clear Parameters....................................................................... 6-19
6.3.9. Tuning Procedure for Position Control Parameters ............................... 6-19
6.4. Analog Monitor.............................................................................................. 6-21