Speed Feedback Compensation - YASKAWA SGDH User Manual

9.4.8 Speed Feedback Compensation

The speed feedback compensation can be used to reduce vibration and allow a higher speed loop gain to be set. In
the end, the speed feedback compensation allows the positioning settling time to be reduced because the position
loop gain can also be increased if the speed loop gain can be increased.
Pn110 Online Autotuning Switches
Setting Range
Pn111 Speed Feedback Compensation
Setting Range
Parameter
Pn110 n.
n.
When this function is used, it is assumed that the moment of inertia ratio set in Pn103 is correct. Verify that
IMPORTANT
the moment of inertia ratio has been set correctly.
Error counter
output
Position loop gain
(Pn102)
Setting Unit
−
Setting Unit
1 to 500
0
Speed feedback compensation is used.
1
Speed feedback compensation is not used. (Standard speed feedback)
Speed
reference
Speed loop
PI control
+
(Pn100,Pn101)
-
Speed feedback
compensation selection
(Pn110.1)
Speed feedback compensation function
9-23
Factory Setting
−
0010
Factory Setting
% 100
Function
Torque reference
Torque reference
filter time constant
(Pn401)
Speed feedback
Speed feedback
compensation
(Pn111)
9.4 Servo Gain Adjustment Functions
Speed Position
Setting Validation
After restart
Speed Position
Setting Validation
Immediately
9