Yaskawa Large Capacity Sigma II Series - Manual (Page 197)

5 Servo Adjustment
5.2.6 Speed Feedback Compensation
5-14
5.2.6 Speed Feedback Compensation
Use this function for shortening the setting time of the system in positioning operation.
This function is available provided that the inertia ratio set in Pn103 is correct.Therefore, perform
online autotuning to obtain and save the results as the parameters. Refer to 5.3 Autotuning for details.
Alternatively, directly set the inertia ratio.
„ Adjustment Procedure
When adding the value of speed feedback compensation, be sure to follow the procedure
described below and make servo gain adjustments while watching the analog monitor to
observe the position error and torque reference. Refer to 5.5 Analog Monitor for details.
1. Set parameter Pn110 to “0002” so that the online autotuning function will be disabled.
Refer to 5.3.4 Parameters Related to Online Autotuning and Appendix A List of Param-
eters for details regarding Pn110.
2. First, make normal servo gain adjustments with no feedback compensation. In this case,
gradually increase the speed loop gain in Pn100 while reducing the speed loop integral
time constant Pn101, and finally, set the sped loop gain Pn100 to the same value as that
of the position loop gain in Pn102.
The relationship between the speed loop gain and integral time constant is as follows:
Take the value obtained from the following formula as a reference value for setting the speed
loop integral time constant in Pn101.
Unit of speed loop gain :[Hz]
Check the unit when setting the speed loop integral time constant in Pn101. Pn101 can be set
in 0.01 ms increments.
Error counter
output
Position loop gain
(Pn102)
Integral control
(Pn101)
Speed loop gain
(Pn100) Torque reference
filter (Pn401)
Torque reference
Speed feedback
Speed feedback com-
pensation (Pn111)
Speed feedback com-
pensation function
selection (Pn110.1)
+
-
+
+
INFO
Speed loop integral time constant =
4
2 π × Speed loop gain
[sec]