Yaskawa SGDH Linear Sigma Series Manuale Utente Scaricare il pdf (Pagina 336)

10 Adjustments

10.3.4 Speed Loop Gain

10-14

10.3.4 Speed Loop Gain

* The setting range for the software version 32 or later

10.3.5 Speed Loop Integral Time Constant

 Selecting the Speed Loop Control Method (PI Control or I-P Control)

Generally, I-P control is more effective in high-speed positioning or high-speed/precision manufacturing applications. The

position loop gain is lower than it would be in PI control, so shorter positioning times and smaller arc radii can be

achieved. On the other hand, PI control is generally used when switching to P control fairly often with a mode switch or

other method.

Pn100 Speed Loop Gain (Kv)

Setting Range Setting Unit Factory Setting Setting Validation

1 to 2,000 Hz 40 Immediately

This parameter determines the responsiveness of the speed loop. If the speed loop’s responsiveness is too low, it will delay

the outer position loop and cause overshooting and vibration of the speed reference. The SERVOPACK will be most stable

and responsive when the speed loop gain is set as high as possible within the range that does not cause vibration in the

mechanical system. The value of speed loop gain is the same as the set value of Pn100 if the moment of inertia ratio in

Pn103 has been set correctly.

Speed

Position

Pn103 Mass Ratio

Setting Range Setting Unit Factory Setting Setting Validation

0 to 10,000

(0 to 20,000)*

% 0 Immediately

The factory setting is Pn103=0. Before adjusting the servo, determine the mass ratio with the equation above and set param-

eter Pn103.

Speed

Position

Force

Pn103 set value =

− 1 × 100 (%)

Linear servomotor coil assembly mass (M

)

Load mass (M

) (includes coil assembly)

Pn101 Speed Loop Integral Time Constant (Ti)

Setting Range Setting Unit Factory Setting Setting Validation

15 to 51,200

(0.15 to 512.00 ms)

0.01 ms 2,000

(20.00 ms)

Immediately

The speed loop has an integral element so that the speed loop can respond to minute inputs. This integral element causes a

delay in the SERVOPACK. If the time constant is set too long, overshooting will occur, which results in a longer position-

ing settling time or responsiveness decreases.

The estimated set value for Pn101 depends on the speed loop control method with Pn10B.1, as shown below.

Speed

Position

INFO

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Yaskawa SGDH Linear Sigma Series Manuale Utente Pagina 336

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