Yaskawa SGDS Sigma III Servo Amplifier - Manual (Page 269)

8 Adjustments
8.6.8 Less Deviation Control
8-42
(2) Adjustment Procedure for Less Deviation Control
Use the procedure shown in the following flowchart when adjusting “Less Deviation Control.”
Always set the moment of inertia ratio. If necessary, set the notch filter. After making these settings, select Less
Deviation Control and turn the power OFF and ON again.
Once Less Deviation Control has been selected, the normal autotuning function will be disabled regardless of the
setting in Pn110 = n
x.
Parameter Meaning
Pn10B n. 0 Standard position control
n. 1 Use Less Deviation Control.
n. 2 Use Less Deviation Control with Reference filter.
n. 3 Reserved. (Do not change.)
Pn1A7 n. 0 Do not perform integral compensation processing.
n. 1 Perform integral compensation processing.
n. 2 Use gain switching in Less Deviation Control.
Perform integral compensation on Gain Settings 1.
Do not perform integral compensation on Gain Settings 2.
n. 3 Use gain switching in Less Deviation Control.
Do not perform integral compensation on Gain Settings 1.
Perform integral compensation on Gain Settings 2.