Manual Tuning; Explanation Of Servo Gain - YASKAWA SGM H Series User Manual

Table of Contents

9 Adjustments

9.3 Manual Tuning

9.3.1 Explanation of Servo Gain

The block diagram for position control is as follows:

Speed pattern

Host controller

(provided by user)

To adjust the servo gain manually, understand the configuration and characteristics of the SERVOPACK and

adjust the servo gain parameters one by one. If one parameter is changed, it is almost always necessary to adjust

the other parameters. It will also be necessary to make preparations such as setting up a measuring instrument to

monitor the output waveform from the analog monitor.

The SERVOPACK has three feedback loops (i.e., position loop, speed loop, and current loop). The innermost

loop must have the highest response and the middle loop must have higher response than the outermost. If this

principle is not followed, it will result in vibration or responsiveness decreases.

The SERVOPACK is designed to ensure that the current loop has good response performance. The user need to

adjust only position loop gain and speed loop gain.

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Position control loop

Speed control loop

Position loop

Current loop

Kp Position Loop Gain (Pn102

Kv Speed Loop Gain Pn100

Speed Loop Integral Time

Constant (Pn101)

Tf Torque Reference Filter Time

Constant (Pn401)