Yaskawa Large Capacity Sigma II Series - Manual (Page 218)

5.4 Servo Gain Adjustments
5-35
5
If the inertia ratio is a little larger than 10 times its rated value, start gain adjustments with the position
and speed loop gains slightly below the above corresponding ranges and the speed loop integral con-
stant slightly exceeding the above corresponding range. If the inertia ratio is much larger, start the gain
adjustments with the position and speed loop gains set to the smallest values and the speed loop inte-
gral constant to the largest value in the above corresponding ranges.
In speed control operation, the position loop gain is set through the host device. If that is not
possible, adjust the position loop gain with the speed reference input gain in Pn300 in the
SERVOPACK. In speed control operation, the position loop gain set in Pn102 is enabled in
zero-clamp mode only. Position loop gain K
P
is obtainable from the following.
• Kp (1/S): Position Loop Gain
• Vs (PPS): Constant Speed Reference
•
ε (Pulse): Constant error: The number of accumulated pulses of the error counter at
the above constant speed.
IMPORTANT
Kp
≥ Vs