YASKAWA SGM series User Manual page 126

2) Set the following user constants related to speed loop as necessary.
Cn-04
Cn-05
Cn-04 and Cn-05 are a speed loop gain and an in-
tegration time constant for the Servopack,
respectively.
The higher the speed loop gain value or the smaller the speed loop integration time
constant value, the higher the speed control response. There is, however, a certain limit
depending on machine characteristics.
These user constants are automatically set by the autotuning function.
The unit of speed loop integration time constant Cn-05 (Ti) can be changed to
0.01 ms.
3) Set the following user constants related to position loop as necessary.
Cn-1A
This user constant is a position loop gain for the
Servopack.
Increasing the position loop gain value provides
position control with higher response and less
error. However, there is a certain limit depending
on machine characteristics.
This user constant is automatically set by the autotuning function.
SGDA- P
Cn-1E
Positions
This user constant is for position control
(SGDA-jjjP) only.
Set in this user constant the error pulse level at
which a position error pulse overflow alarm (alarm
A.31) is detected.
If the machine permits only a small position loop gain value to be set in Cn-1A, an over-
flow alarm may arise during high-speed operation. In this case, increase the value set in
this user constant to suppress alarm detection.
LOOPHZ Unit:
Speed Loop Gain (Kv) Hz
PITIME
Unit:
Speed Loop Integration
ms
Time Constant (Ti)
POSGN Unit:
Position Loop Gain (Kp) 1/s
OVERLV Unit: 256
Overflow References
3.6 Minimizing Positioning Time
Setting Factory For Speed/Torque
Range: 1 Setting: Control and Position
to 2000 80 Control
Setting Factory For Speed/Torque
Range: 2 Setting: Control and Position
to 10000 20 Control
Speed
reference
Setting Factory For Speed/Torque
Range: 1 Setting: Control and Position
to 200 40 Control
Position
reference
Setting Factory For Position Control
Range: 1 Setting: Only
to 65536 1024
Normal control
Error pulse
Speed loop gain
Speed feedback
3
Position loop gain
Position feedback
(Alarm A.31)
Cn-1E
OVERLV
(Alarm A.31)
115