Speed Loop Compensation - YASKAWA Sigma Mini SGMM Series User Manual

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2.6.7 Speed Loop Compensation

2
Parameter Cn-0F is for position control only.
2.6.7 Speed Loop Compensation
Speed/Torque
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Memory Switch
Mode Switch Set-
Cn-01
ting ting
Bit D Bit C Bit B
Does not use
- - 1
mode switch.
Uses torque refer-
0 0 0 ence as a detec-
tion point.
Uses speed refer-
0 1 0 ence as a detec-
tion point.
Uses acceleration
1 0 0 reference as a
detection point.
Uses error pulse
1 1 0 as a detection
point.
1) This function compensates for the phase-delay generated by the digital control speed
detection. For this function, use the following constant.
NDBCC
Cn-28 Speed Loop
Compensation Constant
First, adjust the servo (position/speed loop gain, speed loop, integration time constant,
torque reference filter) appropriately in the "Cn-28 = 0" status.
Next, gradually increase the set value of Cn-28 from 0, find the proper value at which
noise and oscillation are minimal.
Note Use the speed loop compensation function (set value of Cn-28 is other than 0)
under the following conditions:
⋅ No servo system oscillation
⋅ No abnormal noise from the machine
Even if the speed loop compensation function is used, it may bring little effect or
even increase the oscillation. In these cases, stop using the speed loop com-
pensation function. (Set the value of Cn-28 to 0, again.)
— 2-58 —
Parameter Parameter
Percentage of rated
Cn-0C
torque: %
Cn-0D Motor speed: min
Acceleration reference in-
Cn-0E side the Servopack:
10 (min
Cn-0F Reference unit
Unit: Setting Factory For Speed/Torque
Range: 0 Setting: 0 Control

to 100
Unit Unit
−1
−1
)/s