Using Speed Loop Compensation Function - YASKAWA SGM series User Manual

APPLICATIONS OF Σ-SERIES PRODUCTS

3.6.7 Using Speed Loop Compensation Function

3.6.7 Using Speed Loop Compensation Function
SGDA-
Speed/Torque
3
124
1) This function compensates for the phase−delay generated by the digital control speed
S
detection. For this function, use the following constant.
NDBCC
Cn-28 Speed Loop
Compensation Constant
First, adjust the servo (position/speed loop gain, speed loop, integration time constant,
torque reference filter) appropriately in the "Cn−28 = 0" status.
Then, gradually increase the set value of Cn−28 from 0, find the proper value at which
noise and oscillation are minimal.
Note Use the speed loop compensation function (set value of Cn−28 is other than 0)
under the following status:
⋅ No servo system oscillation
⋅ No abnormal noise from the machine
Even if the speed loop compensation function is used, it may bring little effect or
even increase the oscillation. In these cases, stop using the speed loop com-
pensation function. (Set the value of Cn−28 to 0, again.)
2) Speed loop compensation function can be illustrated by the following block diagram:
Speed
reference
* Compensation gain (K) is in proportion to the compensation constant (user
constant Cn−28). Cn−28 = 0 shows no compensation status.
Unit: Setting Factory
Range: 0 Setting: 0

to 100
Current loop gain (Cn−04)
Speed loop integration time
constant (Cn−05)
Compensation gain K*
Speed calculation
For Speed/Torque
Control Only
Current
Motor
loop