Smoothing; Gain Adjustment - YASKAWA Sigma Mini SGMM Series User Manual

2.5.2 Smoothing

The smoothing function adjusts constant-frequency reference input inside the Servopack so
that acceleration and deceleration can be as constant as possible. To use this function, set
the following parameter.
Positions
ACCTME
Cn-26
This function performs acceleration/deceleration pro-
cessing for input reference pulses (primary lag char-
acteristics).
This function prevents the motor from running at pro-
gressive speeds in the following cases:
• When the host controller which outputs references
cannot perform acceleration/deceleration proces-
sing
• When reference pulse frequency is too low
• When reference electronic gear ratio is too high (more than 10 times)
This function does not change the travel distance (number of pulses).

2.5.3 Gain Adjustment

If speed loop gain or position loop gain exceeds the allowable limit for the servo system in-
cluding the machine to be controlled, the system will vibrate or become too susceptible.
Under such conditions, smooth operation cannot be expected. Reduce each loop gain value
to an appropriate value.
For details on servo gain adjustment, refer to 2.6.2 Servo Gain.
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Position Reference Unit:
Acceleration/Deceleration 0.1 ms
Time Constant
(Smoothing)
Reference
pulse
Reference
pulse
frequency
Reference
pulse
frequency
— 2-47 —
2.5Running the Motor Smoothly
Setting Factory For
Range: Setting: Position
0 to 640 0 Control
Servopack
Servomotor
Accelerati
on/decele
ration
Apply acceleration/deceleration
processing
Cn-26 (ACCTME)
2