Yaskawa Large Capacity Sigma II Series - Manual (Page 189)

5 Servo Adjustment
5.2.1 Setting Servo Gain
5-6
5.2 High-speed Positioning
This section provides technical information on high-speed positioning.
5.2.1 Setting Servo Gain
Use the servo gain setting function in the following cases.
• To check each servo gain value that is automatically set after auto-tuning.
• To directly set each of the above servo gain values in another SERVOPACK.
• To further refine responsiveness after autotuning (either to increase responsiveness or to
reduce it).
„ Setting Speed Loop Gain
Set the following speed-loop-related parameters as required.
The above constants are the SERVOPACK’s speed loop gain and integral time constant
respectively.
The higher the speed loop gain, or the smaller the speed loop integral time constant value,
the faster the speed control response will be. There is, however, a certain limit depending on
machine characteristics.
Speed loop gain Kv is adjusted in 1-Hz increments provided that the following parameter is
set correctly.
The load moment of inertia of the SERVOPACK converted on the basis of the motor shaft is
factory-set to the rotor moment of inertia of the servomotor. Therefore, obtain the inertia
ratio from the above formula and set parameter Pn103 properly.
Pn100 Speed Loop Gain (Kv) Unit:
Hz
Setting
Range:
1 to 2000
Factory
Setting:
40
Speed/Torque
Control,
Position Control
Pn101 Speed Loop Integral
Time Constant (Ti) Unit:
0.01
ms
Setting
Range:
15 to 51200
Factory
Setting:
2000
Speed/Torque
Control,
Position Control
Pn103 Inertia Ratio Unit:
%
Setting
Range:
0 to 10000
Factory
Setting:
0
Speed/Torque
Control,
Position Control
Speed reference
Speed reference loop gain
Speed feedback
+
-
Kv
(
1 +
1
TiS
)
Inertia ratio =
Motor axis conversion load moment of inertia (J )
Servomotor rotor moment of inertia (J )
M
L
× 100 (%)