YASKAWA SGM Series User Manual page 193

Settings
11.3.2 Setting Optimum Position and Speed Loop Gain
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J When Response Tracking Worsens
D Incrementally increase the position loop gain (Cn-0001A).
D If the position loop gain cannot be increased any higher because of vibration, incrementally
increase the speed loop gain (Cn-0004). If increasing the speed loop gain causes vibration,
then tracking performance including that for the mechanical system is at its limit.
11 -4