YASKAWA SGM Series User Manual page 87

Application
5.9.4 Guidelines for Setting the Load Inertia Ratio
5
J Machines with Medium Rigidity
Machines with medium rigidity include machines driven by ball screws through reduction
gears. or machines driven directly by long ball screws.
Examples: General Machine Tools, Orthogonal Robots, Conveyors
Load Inertia Ratio
2 2
(GD /GD )
L M
(Cn-0003) [%]
1× (100)
3× (300)
5× (500)
10× (1000)
15× (1500)
20× (2000)
30× (3000)
Note 1. For an inertia ratio of 10× or higher, slightly reduce the position loop gain and
speed loop gain below the values shown, and set the integration time constant
to a higher value before starting the adjustment.
2. Slightly increase the speed loop integration time constant for an inertia ratio
of 20× or higher.
3. As the inertia ratio increases, set the position loop gain and speed loop gain to
the lower limit of the range of values specified, and increase the speed loop in-
tegration time constant.
J Machines with Low Rigidity
Machines with low rigidity include machines driven by timing belts, chains, or harmonic gears.
Example: Conveyors, Articulated Robots
Load Inertia Ratio
2 2
(GD /GD )
L M
(Cn-0003) [%]
1× (100)
3× (300)
5× (500)
10× (1000)
15× (1500)
20× (2000)
30× (3000)
Note 1. For an inertia ratio of 10× or higher, slightly reduce the position loop gain and
speed loop gain below the values shown, and set the integration time constant
to a higher value before starting the adjustment.
2. Slightly increase the speed loop integration time constant for an inertia ratio
of 20× or higher.
3. As the inertia ratio increases, set the position loop gain and speed loop gain to
the lower limit of the range of values specified, and increase the speed loop in-
tegration time constant.
Position Loop Gain Speed Loop Gain
(Cn-001A) [0.01/s] (Cn-0004) [0.1 Hz]
3000 to 5000
Position Loop Gain Speed Loop Gain
(Cn-001A) [0.01/s] (Cn-0004) [0.1 Hz]
1000 to 2000
5 -26
Speed Loop
Integration Time
Constant
(Cn-0005) [0.01 ms]
300 to 500 1000 to 4000
Speed Loop
Integration Time
Constant
(Cn-0005) [0.01 ms]
100 to 200 5000 to 10000