Yaskawa FSP Amplifier - Manual (Page 186)

FSP Amplifier User’s Manual Chapter 6: Servo Adjustment
6-19
• Maximum of Variable Gain MAXKG (Pn1B5), Range 100 to 1000
[%], Default 160:
This parameter sets the maximum variable gain during movement. To
cancel variable gain, set this parameter to 100%. To use variable gain,
increase it, usually 160 to 200% is enough. If one sets this parameter to
200%, it means that gain can be raised to 200% of the written parameter
value during movement.
6.3.8. Integral Clear Parameters
• Integral Clear Mode (Pn1A7, digit 0):
This parameter activates a special treatment of integral at the end of a
decelerating ramp.
When using a command having a trapezoid speed profile, at the end of
the deceleration there is a discontinuity of acceleration; at this point,
deceleration abruptly changes its value from maximum to zero.
Normally, this would create an overshoot of the system. This
discontinuity is compensated by addition of a calculated value to the
integral at that particular time, thus avoiding the overshoot.
Software detects the end of a command deceleration phase, calculates
the compensating value and adds it to the integral.
o In case of point-to-point movements with trapezoid profile: set to 1.
o In case of very smoothed command acceleration: reset to zero.
• Integral clear timing (Pn1BF), Range 1 to 15, Default 3:
This parameter defines the timing of a clear integral. Reducing this
parameter will delay the clear integral, and increasing will speed up the
clear integral.
• Integral Offset Averaging Time (Pn1C0), Range 0 to 25 [ms],
Default 0:
This parameter defines the time needed to calculate a steady torque at
stop. This value is used to execute a more precise integral modification
at the end of the movement.
In horizontal systems, this parameter should be zero.
6.3.9. Tuning Procedure for Position Control Parameters
„ System Requirements
Use any command input to the FSP Amplifier, and watch the performance
of control (see analog output).