YASKAWA SGDB-15VN User Manual page 106

II 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 Position Loop
(GD2L/GD2M) Gain (Cn-001A)
(Cn-0003) [%]
lx (100) 3000 to 5000
3x (300)
5x (500)
Note 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.
II Machines with Low Rigidity
Machines with low rigidity include machines driven by timing belts, chains, or wave reduction
gears called Harmonic Drives.
Example: Conveyors, Articulated Robots
Load Inertia Ratio Position Loop
(GD2L/GD2M) Gain (Cn-001A)
(Cn-0003) [%]
l x (100) 1000 to 2000
3x (300)
5x (500)
Note 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.
Speed Loop Gain
(Cn-0004) [0.1 Hz]
[0.01/s]
300 to 500
Speed Loop Gain
(Cn-0004) [0.1 Hz]
[0.01/s]
100 to 200
5.9 Adjustments
Speed Loop Integration
Time Constant (Cn-0005)
[0.01 ms]
1000 to 4000
Speed Loop Integration
Time Constant (Cn-0005)
[0.01 ms]
5000 to 10000