YASKAWA MP2100 Series User Manual page 176

(23) Gain and Bias Settings
OW 2E
Determine the responsiveness for the SERVOPACK's position loop.
If the position loop gain is set high, 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 depends on the settings in the SERVOPACK parameters. Refer to Appendix B.1 Parameters
Updated when a Connection is Established (MP2100/MP2100M to SERVOPACK) for details on making parameters auto-
matically effective.
If this parameter changes, the corresponding SERVOPACK parameter will change automatically.
This function is achieved using the Servo command expansion area and can be executed when using the MECHA-
TROLINK-II (32-byte Mode) communication method. The motion command KPS must be used to make changes to this
parameter.
OW 2F
Determine the responsiveness for the SERVOPACK's speed loop. 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 depends on the settings in the SERVOPACK parameters. Refer to Appendix B.1 Parameters
Updated when a Connection is Established (MP2100/MP2100M to SERVOPACK) for details on making parameters auto-
matically effective.
If this parameter changes, the corresponding SERVOPACK parameter will change automatically.
This function is achieved using the Servo command expansion area and can be executed when using the MECHA-
TROLINK-II (32-byte Mode) communication method. The motion command KVS must be used to make changes to this
parameter.
OW 30
Reduces positioning time by applying feed forward compensation.
This setting is effective for position control commands. Always set this parameter to 0 for phase control.
If this parameter changes, the corresponding SERVOPACK parameter will change automatically.
This function is achieved using the Servo command expansion area and can be executed when using the MECHA-
TROLINK-II (32-byte Mode) communication method. The motion command KFS must be used to make changes to this
parameter.
OW 31
Set the speed feed forward gain as a percentage of the rated speed for the phase reference command (PHASE).
The setting unit for this parameter is 0.01% (fixed). The unit for Secondly Speed Compensation (OL
be selected by the user.
When used at the same time as OW
OW 32
Set the position loop integration time constant. Use this parameter to improve the following precision in applications such
as electronic cams or shafts.
The actual machine operation depends on the settings in the SERVOPACK parameters. Refer to Appendix B.1 Parameters
Updated when a Connection is Established (MP2100/MP2100M to SERVOPACK) for details on making parameters auto-
matically effective.
If this parameter changes, the corresponding SERVOPACK parameter will change automatically.
This function is achieved using the Servo command expansion area and can be executed when using the MECHA-
TROLINK-II (32-byte Mode) communication method. The motion command KIS must be used to make changes to this
parameter.
There is no parameter to set the integration time constant in the SGD-N or SGDB-N SERVOPACK, so the Position Integra-
tion Time Constant cannot be used.
Position Loop Gain
Setting Range
0 to 32767
Speed Loop Gain
Setting Range
1 to 2000
Speed Feed Forward Compensation
Setting Range
0 to 32767
Speed Amends
Setting Range
−32768 to 32767
16, speed compensation can be applied twice.
Position Integration Time Constant
Setting Range
0 to 32767
7.2 Motion Parameter Details
Phase Speed
Position
Setting Unit Default Value
0.1/s
Setting Unit Default Value
Hz
Setting Unit Default Value
0.01%
Setting Unit Default Value
0.01%
Setting Unit Default Value
ms
Torque
300
40
7
0
0
16), however, can
0
7-21