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Sigma II User's Manual
6.2
High-Speed Positioning
This section provides technical information on high-speed positioning.
6.2.1
Setting Servo Gain
Use the servo gain setting function in the following cases.
•
To check each servo gain value that is automatically set after auto-tuning.
•
To directly set each of the above servo gain values in another servo amplifier.
•
To further refine responsiveness after auto-tuning (either to increase responsive-
ness or to reduce it).
n
Setting Speed Loop Gain
Set the following speed loop related parameters as required.
Parameter
Speed Loop Gain (K
Pn100
Speed Loop Integral
Pn101
Time Constant (T
The higher the speed loop gain, or the smaller the speed loop integral time constant
value, the faster the speed control response will be. There is, however, a certain
limit depending on machine characteristics.
Speed loop gain K
parameter is set correctly.
Parameter
Pn103
Inertia Ratio
Inertia Ratio =
The load inertia of the servo amplifier reflected at the motor shaft is default set to the
rotor inertia of the servomotor. Therefore, obtain the inertia ratio from the above
formula and set parameter Pn103 properly.
The above parameters are automatically set by the auto-tuning operation.
Signal
Setting Range: 1 to 2000Hz
)
v
Default Setting: 40Hz
Setting Range: 15 to 51200 X 0.01ms
)
Default Setting: 2000 x 0.01ms
i
Speed reference +
loop gain
is adjusted in 1Hz increments provided that the following
v
Signal
Setting Range: 0 to 10000
Default Setting: 100
Motor load inertia (J
Servomotor rotor inertia (J
Setting
(
1
)
K
1+
V
TiS
-
Speed feedback
Setting
(%)
)
L
× 100%
)
M
6-7
Chapter 6: Servo Adjustment
Application
Speed/Torque Control,
Position Control
Speed/Torque Control,
Position Control
Application
Speed/Torque Control,
Position Control
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