YASKAWA SGD7S series Product Manual page 66

3.4 Adjusting Less-Deviation Control 1
3.4.5 Settings for Low-speed Feeding
Important
SERVOPACKs with MECHATROLINK-III Communications
References
1.
Set Pn192 (Less-Deviation Control 1 Second Feedforward Gain) to 0.
2.
During low-speed feeding, change the gains from gain settings 1 to gain settings 2.
The setting of Pn192 is applied, the reference tracking performance decreases, and vibration is
reduced.
Feedback
3-16
• Any change to the setting of Pn216 or Pn234 is not applied while the Servomotor is operating.
Changes will be enabled the next time the Servomotor comes to a stop.
• Change the settings while there is no reference pulse input and the Servomotor is stopped.
Gain Settings 1 ： Pn191 = 1000 (100%)
Position
reference
speed
speed
Torque
reference
0 6000 12000 18000
Time (ms)
Vibration in
torque and
speed
24000 30000
Gain Settings 2 ： Pn192 = 0 (0%)
Position
reference
speed
Feedback
speed
Torque
reference
0 6000 12000 18000 24000 30000
Time (ms)
There is no
vibration in
the torque or
speed.