Yaskawa Large Capacity Sigma II Series - Manual (Page 190)

5.2 High-speed Positioning
5-7
5
The above parameters are automatically set by the autotuning operation.
„ Setting Position Loop Gain
Set the following position loop-related parameter as required.
The above constant is the position loop gain for the SERVOPACK.
The higher the position loop gain, the smaller the position control error will be. There is,
however, a certain limit depending on machine characteristics.
This gain setting is also valid for zero clamp operation.
The above parameter is automatically set by the autotuning operation.
Set in this parameter the error pulse level at which a position error pulse overflow alarm
(A.d0) is detected.
If the machine permits only a small position loop gain value to be set in Pn102, an overflow
alarm may arise during high-speed operation. In this case, increase the value set in this
parameter to suppress alarm detection.
Pn102 Position Loop Gain (Kp) Unit:
1/s
Setting
Range:
1 to 2000
Factory
Setting:
40
Speed Control,
Position Control
Pn505 Overflow level Unit:
256 ref-
erence
units
Setting
Range:
1 to 32767
Factory
Setting:
1024
Position Control
Position reference Position loop gain
Position feedback
+
-
Kp
Error pulse 0
-
+
ìPn505î
Alarm (A.d0)
Normal control
Alarm (A.d0)