Speed Detection Method Selection; Speed Feedback Filter; Proportional Control (P Control) - YASKAWA SGD7S Product Manual

8.12.5

Speed Detection Method Selection

You can use the speed detection method selection to ensure smooth Servomotor speed
changes during operation. To ensure smooth motor speed changes during operation, set
Pn009 to n.1 (Use speed detection 2).
With a Linear Servomotor, you can reduce the noise level of the running motor when the linear
encoder scale pitch is large.
Parameter

n. 0
(default setting)
Pn009

n. 1
If the speed detection method is changed, the response characteristic of the speed loop will also
change. Servo tuning must therefore be performed again.
Important
8.12.6

Speed Feedback Filter

You can set a first order lag filter for the speed feedback in the speed loop. This ensures
smooth changes in the feedback speed to reduce vibration. If a large value is set, it will
increase the delay and make response slower.
Speed Feedback Filter Time Constant
Setting Range
Pn308
(0.00 ms to 655.35 ms)
8.12.7

Proportional Control (P Control)

You can input the /P-CON (Proportional Control) signal from the host controller to select P con-
trol.
The speed control section uses proportional-integral control (PI control) if the reference remains
at zero during speed control. The integral effect may cause the Servomotor to move. To pre-
vent that, you can change from PI control to P control.
P control is set using Pn000 = n.X and the /P-CON signal.
However, if Pn000 is set to n.A (Switching between speed control with analog references
and speed control with zero clamping), a position loop will be formed. Therefore, there is no
need to use this function. P control is used while the /P-CON signal is ON.

Use speed detection 1.

Use speed detection 2.
Setting Unit
0 to 65,535
0.01 ms
8.12 Additional Adjustment Functions

8.12.5 Speed Detection Method Selection

Meaning
Default Setting
0
(0.00 ms)
When Enabled Classification
After restart Tuning
Speed Position
When Enabled Classification
Immediately Setup
8
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