Feedrate Command; Position Loop Gain - YASKAWA MOTIONPACK-110 Descriptive Information

5.6.3 FEEDRATE COMMAND VOLTAGE SETTING (#1408, #1608, #1808)
These parameters are for adjusting the upper limit of the feedrate command voltages in
combined use with Servopacks. Parameters #1408, #1608 and #1808 are for X-, Y- and
Z-axes, respectively. The setting range is 0 to 7. For Servopack, the setting is "7".
5.6.4 POSITION LOOP GAIN (#1474, #1674, #1874) 1 <SET VALUE_ 127
To these position loop gain adjustment parameters, the integer of the following value should
be set (omitting the decimal).
2 Ls(=32768)
nKp- •.............. Expression (_)
Parameters #1474, #1674 and #1874 are for X-, Y- and Z-axes, respectively.
e is the position lag pulses calculated by the formula below:
Maximum rapid traverse feedrate (pulses/s)
e= Kp
= 4× fpc ×---_ ×RPM,. = 4 "fpGRPM°x •.............. Expression (_)
Kp 60Kp
( Where fPc: Output per revolution of pulse generator (pulses/rev)_
k
RPMox: Motor speed during rapid feed (rpm)
)
Expression (_) is assigned to expression (_).
32768 x 60 x Kp ............... Expression ®
nKp- 4xfpcxRPMo,
K p Ls the position loop gain varying with the servomotor used_ The guideline values
are given below. For details, see Par. 12.1.3 "SERVO PERFORMANCE CHECK". Fine
adjustments of Kp aremade on the Servopack. For details, see Par. 11.2.2.
Table 5.10
Motor Type Kp Value (s-')
Hi-Cup Motor
Cup Motor
30
Minertia Motor J Series
Mineetia Motor RM Series
Print Motor 40
(Example)
When a Minertia motor RM Series (rated speed: 3000 rpm), a 600 pulse/rev feedback PG,
and a Servopack type CPCR-FR are used with K s set at 30s I, the value of n is as follows:
4×600×3000 = 4000 pulses
e = 60 × 30
2's( = 32768) = 8.192
n_p- 4000
Therefore, the parameter is set to "8".
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