Yaskawa FSP Amplifier - Manual (Page 178)

FSP Amplifier User’s Manual Chapter 6: Servo Adjustment
6-11
IMPORTANT
• When the inertia ratio is larger than 10, start gain adjustments with the
position and speed loop gains slightly below the ranges given above and the
speed loop integral constant slightly over the range.
• When the inertia ratio is much larger, start the gain adjustments with the
position and speed loop gains set to the smallest values and the speed loop
integral constant to the largest value in the ranges given above.
In speed control operation, the position loop gain is set through the host
controller. If that is not possible, adjust the position loop gain with the
speed reference input gain in Pn300 in the servo amplifier. In speed control
operation, the position loop gain set in Pn102 is enabled in zero-clamp
mode only. Position loop gain K
p
can be obtained from the following
formula.
K
p
≥
ε
s
V
Where: K
p
(s -1 ): Position Loop Gain
V
s
(pps): Constant Speed Reference
ε (Pulse): Constant Error: The number of accumulated
pulses of the error counter at the above constant
speed.