YASKAWA JEPMC-MP2300-Y Series User Manual page 328

6 Motion Parameters
6.4.2 Setting Parameter List
( 22 ) Gain and Bias Settings
OW 2E
Position Loop Gain
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 11.1 Parameters That Are Automatically Updated on page 11-2 for information on
Description
automatic updating of parameters.
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 MECHATROLINK-II (32-byte
Mode) communication method. The motion command KPS must be used to make changes to this parameter.
OW 2F
Speed Loop Gain
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 11.1 Parameters That Are Automatically Updated on page 11-2 for information on automatic
updating of parameters.
Description
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
MECHATROLINK-II (32-byte Mode) communication method. The motion command KVS must be used to make
changes to this parameter.
OW 30
Speed Feed Forward Compensation
Reduces positioning time by applying feed forward compensation.
This setting is effective for positioning control commands. Always set this parameter to 0 for phase control.
If this parameter changes, the corresponding SERVOPACK parameter will change automatically.
Description
This function is achieved using the Servo command expansion area and can be executed when using the
MECHATROLINK-II (32-byte Mode) communication method. The motion command KFS must be used to make
changes to this parameter.
OW 31
R
Speed Amends
Set the speed feed forward gain as a percentage of the rated speed for the interpolation (INTERPOLATE), phase reference
(PHASE), and latch (LATCH) commands.
The setting unit for this parameter is 0.01% (fixed).
Description
Secondary Speed Compensation (OL
and the unit can be selected for OL
can be applied twice.
OW 32
Position Integration Time Constant
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 11.1 Parameters That
Are Automatically Updated on page 11-2 for information on automatic updating of parameters.
If this parameter changes, the corresponding SERVOPACK parameter will change automatically.
Description
This function is achieved using the Servo command expansion area and can be executed when using the
MECHATROLINK-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
Integration Time Constant cannot be used.
6-38
Setting Range
Phase
Position
0 to 32767
Speed
Torque
Setting Range
Phase
Position
1 to 2000
Speed
Torque
Setting Range
Phase
Position
0 to 32767
Speed
Torque
Setting Range
Phase
Position
−32768 to 32767
Speed
Torque
16) can be used with the phase reference command (PHASE) ,
16. When used at the same time as OL
Setting Range
Phase
Position
0 to 32767
Speed Torque
Setting Unit Default Value
0.1/s 300
Setting Unit Default Value
Hz 40
Setting Unit Default Value
0.01% 0
Setting Unit Default Value
0.01% 0
16, speed compensation
Setting Unit Default Value
ms 0