YASKAWA SGM series User Manual page 389

If adjustment of the position loop gain is not possible at the host controller, increase
the speed reference gain (Cn-03).
c) Determine the speed loop integration time constant (Cn-05), by observing the posi-
tioning setting time and vibrations in the mechanical system.
The positioning setting time may become excessive if the speed loop integration time
constant (Cn-05) is too large.
d) It is not necessary to change the torque reference filter time constant (Cn-17) unless
torsional resonance occurs in the machine shafts.
Torsional resonance may be indicated by a high vibration noise. Adjust the torque ref-
erence filter time constant (Cn-17) to reduce the vibration noise.
e) Finally, fine adjustment of the position gain, speed gain, and integration time constant
is required to determine the optimum point for step response.
B.2 Adjusting a Speed-control Servopack
B
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