Manual Tuning; Explanation Of Servo Gain - YASKAWA SGLFW User Manual

10 Adjustments

10.3.1 Explanation of Servo Gain

10.3 Manual Tuning

10.3.1 Explanation of Servo Gain
The block diagram for position control is as follows:
Speed
Speed pattern
Time
Host controller
(provided by user)
To adjust the servo gain manually, understand the configuration and characteristics of the SERVOPACK and
adjust the servo gain parameters one by one. If one parameter is changed, it is almost always necessary to adjust
the other parameters. It will also be necessary to make preparations such as setting up a measuring instrument to
monitor the output waveform from the analog monitor.
The SERVOPACK has three feedback loops (i.e., position loop, speed loop, and current loop). The innermost
loop must have the highest response and the middle loop must have higher response than the outermost. If this
principle is not followed, it will result in vibration or responsiveness decreases.
The SERVOPACK is designed to ensure that the current loop has good response performance. The user need to
adjust only position loop gain and speed loop gain.
10-12
Position control loop
Move Speed
+
reference reference
Position
Error
loop
-
counter
Kp
gain
Position loop
SERVOPACK
Speed control loop
+ +
Current
Speed Electric
Tf
Kv
-
- control power
control
Ti
section converting
section
Current loop
Speed loop
Kp Position Loop Gain (Pn102
Kv Speed Loop Gain Pn100
Ti Speed Loop Integral Time
Constant (Pn101)
Tf Force Reference Filter Time
Constant (Pn401)
Linear
servomotor
M
PG
Linear
scale