Setting User Constants; Gain-Related Constants - YASKAWA SGM Series User Manual

User Constants

7.1.1 Gain-related Constants

7.1 Setting User Constants

7.1.1 Gain-related Constants
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The SERVOPACK has the following user constants (parameters) that can be set or modified to fit
the system. It is important to understand what the constants mean before using them.
User constants are set and modified through MECHATROLINK communication.
The following gain-related user constants are available.
J Cn-0004: Speed Loop Gain
D Sets the proportional gain for the speed controller.
D Allowable setting range: 1 to 20000 [× 0.1 Hz]
D Sets the constant at 40 [Hz] maximum when the motor is running under no-load conditions.
J Cn-0005: Speed Loop Integration Time Constant
D Sets the integration time constant for the speed controller.
D Allowable setting range: 100 to 65535 [× 0.01 ms]
J Cn-001A: Position Loop Gain
D Sets the proportional gain for the position controller.
D Allowable setting range: 1 to 50000 [× 0.01/s]
J Cn-001C: Bias
D Sets the position control bias. This constant is used depending on load conditions to shorten
positioning time.
D Allowable setting range: 0 to maximum motor speed [× 100 reference units/s]
J Cn-001D: Feed Forward Compensation
D Sets the feed forward compensation for the position controller.
D Allowable setting range: 0 to 100 [%]
J Cn-0027: Feed Forward Reference Filter
D Sets the primary lag filter to add to the feed forward compensation.
D This constant can be used to reduce the impact of feed forward control.
D Allowable setting range: 0 to 64000 [µs]
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