YASKAWA SVC User Manual page 107

3.4 Motion Parameter Details
3.4.2 Setting Parameter Details
Gain and Compensation
 Position Loop Gain
This parameter determines the responsiveness of the SERVOPACK's position loop.
Register
Address
OW2E
Setting Precautions
• If the position loop gain is set to a high value, the responsiveness is high and the positioning
time is short. Set the optimum value for the machine rigidity, inertia, and type of Servomotor.
• The actual machine operation follows the settings in the SERVOPACK parameters. Refer to
the following section for details on automatically applying settings to the SERVOPACK
parameters.
3.5 Automatically Updated Parameters on page 3-86
• If automatic parameter application is enabled and this parameter changes, the corresponding
SERVOPACK parameter will change automatically. If changes must be made and automatic
parameter application is not enabled, use the KPS (Change Position Loop Gain) motion com-
mand to change the parameter.
 Speed Loop Gain
This parameter determines the responsiveness of the SERVOPACK's speed loop.
Register
Address
OW2F
Setting Precautions
• The Servo system will be more stable the higher this parameter is set, as long as the value is
within the range in which the mechanical system does not oscillate.
• The actual machine operation follows the settings in the SERVOPACK parameters. Refer to
the following section for details on automatically applying settings to the SERVOPACK
parameters.
3.5 Automatically Updated Parameters on page 3-86
• If automatic parameter application is enabled and this parameter changes, the corresponding
SERVOPACK parameter will change automatically. If changes must be made and automatic
parameter application is not enabled, use the KVS (Change Speed Loop Gain) motion com-
mand to change the parameter.
 Speed Feedforward Compensation
Use this parameter to reduce positioning time by applying feedforward compensation.
Register
Address
OW30
Setting Precautions
• This parameter is valid for position control.
• Always set this parameter to 0 for phase control.
• If automatic parameter application is enabled and this parameter changes, the corresponding
SERVOPACK parameter will change automatically. If changes must be made and automatic
parameter application is not enabled, use the KFS (Change Feedforward) motion command
to change the parameter.
3-54
SVC
Name
Position Loop Gain
SVC
Name
Speed Loop Gain
Name
Speed Feedforward Compen-
sation
Setting
Setting Unit
Range
0 to 32,767 0.1 /s
Setting
Setting Unit
Range
1 to 2,000 Hz
SVC
Setting
Setting Unit
Range
0 to 32,767 0.01%
Default Control mode
300
Phase
Position
Default Control mode
Phase
Position
40
Speed
Default Control mode
0
Phase
Position