Yaskawa Large Capacity Sigma II Series - Manual (Page 187)

5 Servo Adjustment
5.1.3 Adjusting Gain
5-4
5.1.3 Adjusting Gain
If speed loop gain or position loop gain exceeds the allowable limit for the servo system
including the machine to be controlled, the system will tend to vibrate or become too sensi-
tive. Smooth operation is not possible under such conditions, so reduce each loop gain value
to an appropriate value.
Refer to 5.2.1 Setting Servo Gain for details regarding servo gain adjustment.
5.1.4 Adjusting Offset
The servo system does not operate smoothly if reference voltage from the host controller or
external equipment has a reference offset value in close proximity to 0 V. In this case, adjust
the reference offset value to 0 V.
„ Reference Voltage Offset from Host Controller or External Circuitry
„ Reference Offset Adjustment
The following two methods are available to set the reference offset value to 0 V.
If a position loop is formed in the host controller, be sure to make manual offset adjustment and do not
make automatic reference offset adjustment.
Refer to the following sections in Chapter 6 Using the Digital Operator for reference offset
adjustment in detail.
Reference offset automatic adjust-
ment The reference offset value is automatically set to 0 V.
Reference offset manual adjustment The reference offset value can be adjusted manually.
Reference offset automatic adjust-
ment 6.2.3 Automatic Adjustment of the Speed and Torque Ref-
erence Offset
Reference offset manual adjustment 6.2.4 Manual Adjustment of the Speed and Torque Refer-
ence Offset
Offset
Offset adjustment
Reference
voltage
Reference
speed or
reference
torque Reference
speed or
reference
torque
Reference
voltage
Make offset
adjustment with
the SERVOPACK
IMPORTANT