Setting The Speed Bias; Speed Feedback Filter; Speed Feedback Compensation - YASKAWA E-II Series User Manual

9.4.6 Setting the Speed Bias

The settling time for positioning can be reduced by setting the following parameters to add bias in the speed ref-
erence block in the SERVOPACK.
Pn107 Bias
Setting Range
Pn108 Bias Width Addition
Setting Range
To reduce the positioning time, set these parameters
based on the machine's characteristics.
The Bias Width Addition (Pn108) specifies when the
Bias (Pn107) is added and the width is expressed in
error pulse units. The bias input will be added when
the error pulse value exceeds the width set in Pn108.
9.4.7

Speed Feedback Filter

Pn308 Speed Feedback Filter Time Constant
Setting Range
(0.00 to 655.35 ms)
Sets the 1st-order filter for the speed loop's speed feedback. Makes the motor speed smoother and reduces vibration. If the
set value is too high, it will introduce a delay in the loop and cause poor responsiveness.

9.4.8 Speed Feedback Compensation

Speed feedback compensation cannot be used for SERVOPACKs of 22 kW or more.
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Setting Unit
0 to 450
1 min
Setting Unit
0 to 250 1 Reference unit
Setting Unit
0 to 65,535 0.01 ms
9.4 Servo Gain Adjustment Functions
Factory Setting
-1 0
Factory Setting
7
Speed reference
Bias width addition
(Pn108)
Bias (Pn107)
Bias width addition
(Pn108)
Speed
Factory Setting
0
Position
Setting Validation
Immediately
Position
Setting Validation
Immediately
Bias set
No bias
Bias (Pn107)
Error pulse
Pn108
Position
Setting Validation
Immediately
9
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