Yaskawa SGDH Linear Sigma Series - Manual (Page 345)

10.4 Servo Gain Adjustment Functions
10-23
10
10.4.8 Speed Feedback Compensation
The speed feedback compensation can be used to reduce vibration and allow a higher speed loop gain to be set. In
the end, the speed feedback compensation allows the positioning settling time to be reduced because the position
loop gain can also be increased if the speed loop gain can be increased.
When this function is used, it is assumed that the mass ratio set in Pn103 is correct. Verify that the mass
ratio has been set correctly.
Pn110 Online Autotuning Switches
Setting Range Setting Unit Factory Setting Setting Validation
− − 0010 After restart
Speed Position
Pn111 Speed Feedback Compensation
Setting Range Setting Unit Factory Setting Setting Validation
1 to 500 % 100 Immediately
Speed Position
Parameter Function
Pn110 n.††0† Speed feedback compensation is used.
n.††1† Speed feedback compensation is not used. (Standard speed feedback)
IMPORTANT
Speed loop
PI control
Speed
reference
Error counter
output
Position loop gain
(Pn100,Pn101)
(Pn111)
(Pn102) +
-
Force reference
filter time constant
(Pn401)
Speed feedback
compensation
Speed feedback
Force reference
Speed feedback compensation function
Speed feedback
compensation selection
(Pn110.1)