Servo Gain Manual Tuning; Position Loop Gain - YASKAWA SGM H Series User Manual

9.3.2 Servo Gain Manual Tuning

The SERVOPACK has the following parameters for the servo gains. Setting the servo gains in the parameters
can adjust the servo responsiveness.
• Pn100: Speed loop gain (Kv)
• Pn101: Speed loop integral time constant (Ti)
• Pn102: Position loop gain (Kp)
• Pn401: Torque reference filter time constant (Tf)
For the position and speed control, the adjustment in the following procedure can increase the responsiveness.
The positioning time in position control can be reduced.
Step
1
2
3
4
5
Perform the manual tuning in the following cases.
• To increase the servo gains more than the values set by the online autotuning.
• To determine the servo gains and moment of inertia ratio by the user.
Start the manual tuning from the factory setting or the values set by the online autotuning. Prepare measuring
instruments such as memory recorder so that the signals can be observed from the analog monitor (CN5) such as
"Torque Reference" and "Motor Speed," and "Position Error Monitor" for the position control. (Refer to 9.5
Analog Monitor.) The servodrive supporting tool "SigmaWin100/200" allows you to observe such signals. Pre-
pare either of them.

9.3.3 Position Loop Gain

Position Loop Gain (Kp)
Pn102
The responsiveness of the position loop is determined by the position loop gain. The responsiveness increases and the posi-
tioning time decreases when the position loop gain is set to a higher value. In general, the position loop gain cannot be set
higher than natural vibrating frequency of the mechanical system, so the mechanical system must be made more rigid to
increase its natural vibrating frequency and allow the position loop gain to be set to a high value.
If the position loop gain (Pn102) cannot be set high in the mechanical system, an overflow alarm may occur during high
INFO
speed operation. In this case, increase the values in the following parameter to suppress detection of the overflow alarm.
Overflow Level
Pn505
This parameter's new setting must satisfy the following condition.
≥ Max. feed speed (reference units/s) ×
Pn505
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Set correctly the moment of inertia ratio (Pn103). The utility function Fn007 can be used after the
online autotuning.
Increase the speed loop gain (Pn100) to within the range so that the machine does not vibrate. At the
same time, decrease the speed loop integral time constant (Pn101).
Adjust the torque reference filter time constant (Pn401) so that no vibration occurs.
Repeat the steps 1 and 2. Then reduce the value for 10 to 20%.
For the position control, increase the position loop gain (Pn102) to within the range so that the machine
does not vibrate.
Setting Range Setting Unit
1 to 2,000
Setting Range Setting Unit
1 to 32,767 256 reference units
Pn102
Explanation
Factory Setting
1/s 40
Factory Setting
1,024
2.0
9.3 Manual Tuning
Position
Setting Validation
Immediately
9
Position
Setting Validation
Immediately
9-13