Yaskawa Large Capacity Sigma II Series - Manual (Page 198)

5.2 High-speed Positioning
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The unit of speed loop gain (i.e., Hz) and that of position loop gain (i.e., 1/s) are differ-
ent to each other. Set these gains to the same value, however.
3. Repeat step 2. to increase the speed loop gain while watching the position error of the
analog monitor to observe the setting time and the torque reference of the analog moni-
tor to observe any occurrence of vibration. If there is any oscillating noise or noticeable
vibration, gradually increase the time constant of the torque reference filter in Pn401.
4. Gradually increase only the position loop gain. When it has been increased about as far
as possible, then decrease the speed feedback compensation in Pn111 from 100% to
90%. Then repeat steps 2. and 3.
5. Decrease the speed feedback compensation to a value lower than 90%. Then repeat
steps 2. through 4. to shorten the setting time. If the speed feedback compensation is too
low, however, the response waveform will vibrate.
6. Find the condition in which the shortest setting time is obtainable within the range
where the position error or torque reference waveform observed through the analog
monitor is not vibrating or unstable.
7. The servo gain adjustment is completed when no further shortening of the positioning
time is possible.
Speed feedback compensation usually makes it possible to increase the speed loop gain and position
loop gain.The machinery may vibrate excessively if the compensation value greatly changes or
Pn110.1 is set to “1” (i.e., no speed feedback compensation enabled) after increasing the speed loop
gain or position loop gain. The machinery may malfunction.
IMPORTANT