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9.4 Servo Gain Adjustment Functions

9-15

9.4 Servo Gain Adjustment Functions

9.4.1 Feed-forward Reference

Pn109

Feed-forward

Setting Range Setting Unit Factory Setting Setting Validation

0 to 100 1% 0 Immediately

Pn10A

Feed-forward Filter Time Constant

Setting Range Setting Unit Factory Setting Setting Validation

0 to 6,400

(0.00 to 64.00 ms)

0.01ms

(0.00 ms)

Immediately

Applies feed-forward compensation in position control inside

the SERVOPACK. Use this parameter to shorten positioning

time. Too high value may cause the machine to vibrate. For

ordinary machines, set 80% or less in this parameter.

Position

reference pulse

Encoder feedback pulse

Position loop

gain Kp

Pn109 Pn10A

Differ-

ential

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Default Chapter14
- Table of Contents14
1 Outline27
- Checking Products27
- Product Part Names29
  - Servomotors29
  - Servopacks30
- Examples of Servo System Configurations32
- Applicable Standards35
  - North American Safety Standards (UL, CSA)35
  - CE Marking35
- Σ-II Series SGDM SERVOPACK Upgraded Functions36
2 Selections38
- Servomotor Model Designations39
- Selecting Servomotors51
  - Support Tool for the Capacity Selection of the AC Servomotors51
  - Servomotor Capacity Selection Examples51
- SERVOPACK Model Designations52
- Σ-II Series Servopacks and Applicable Servomotors53
  - SGDM Servopacks and SGM H Servomotors53
  - SGDM Servopacks and SGMCS Servomotors54
- Selecting Cables55
- Selecting Peripheral Devices67
3 Specifications and Dimensional Drawings72
- Ratings and Specifications of SGMAH75
- Ratings and Specifications of SGMPH82
- Ratings and Specifications of SGMGH88
- SGMGH Servomotors89
- Ratings and Specifications of SGMSH103
- Ratings and Specifications of SGMDH108
- Ratings and Specifications of SGMCS Servomotors110
- Small-Capacity Series SGMCS Servomotors110
- Middle-Capacity Series SGMCS Servomotors114
Mechanical Specifications of SGMAH, SGMPH, SGMGH, SGMSH, and SGMDH Servomotors116
- Precautions on Servomotor Installation116
- Mechanical Tolerance117
- Direction of Servomotor Rotation118
- Impact Resistance118
- Vibration Resistance118
- Vibration Class118
Mechanical Specifications of SGMCS Servomotors119
- Allowable Loads119
- Mechanical Tolerance120
- Direction of Servomotor Rotation121
- Impact Resistance121
- Vibration Resistance121
- Vibration Class121
- Protective Specification121
Terms and Data for Servomotors with Gears122
Servomotor Dimensional Drawings124
- SGMAH Servomotors125
- Without Gears and with Brakes128
- With Standard Backlash Gears131
- With Standard Backlash Gears and Brakes137
- With Low-Backlash Gears142
  - Model SGMAH (3000 Min -1 )145
- Without Gears and Brakes148
  - Dimensional Drawings of SGMPH Servomotors148
  - SGMPH Servomotors148
- With Brakes150
  - Model SGMPH (3000 Min -1 )151
  - And Without Brakes152
- With Standard Backlash Gears and Without Brakes153
- With Standard Backlash Gears and Brakes155
- With Low-Backlash Gears159
Dimensional Drawings of SGMSH Servomotors211
- SGMSH Servomotors211
- SGMSH Servomotors (3000 Min (Flange-Mounted Type)211
- SGMSH Servomotors (3000 Min -1 (Flange-Mounted Type)211
Dimensional Drawings of SGMDH Servomotors220
- SGMDH Servomotors220
Dimensional Drawings of SGMCS Servomotors222
- SGMCS Servomotors Φ135 Model222
- SGMCS Servomotors Φ175 Model222
- SGMCS Servomotors Φ230 Model223
- SGMCS Servomotors Φ290 Model223
- SGMCS Servomotors Φ280 Model224
- SGMCS Servomotors Φ360 Model225
- Servomotor Connector for All Small-Capacity Series Servomotors226
- Servomotor Connector for All Middle-Capacity Series Servomotors227
- Shaft End Specifications for SGMGH, SGMSH and SGMDH Servomotors228
4 SERVOPACK Specifications and Dimensional Drawings231
- SERVOPACK Ratings and Specifications233
  - SERVOPACK Ratings and Specifications234
- SERVOPACK Installation236
- SERVOPACK Internal Block Diagrams238
- Servopack's Power Supply Capacities and Power Losses241
- SERVOPACK Overload Characteristics and Allowable Load Moment of Inertia242
- SERVOPACK Dimensional Drawings246
- Dimensional Drawings of Base-Mounted SERVOPACK Model247
- Dimensional Drawings of Rack-Mounted SERVOPACK Model255
- Dimensional Drawings of Duct-Ventilated SERVOPACK Model261
  - Three-Phase 200 V: 6.0 Kw/7.5 Kw (60ADA-P to 75ADA-P)261
  - Three-Phase 200 V: 11.0 Kw/15.0 Kw (1AADA-P/1EADA-P)262
5 Specifications and Dimensional Drawings of Cables and Peripheral Devices263
- Specifications and Dimensional Drawings of Servomotor Main Circuit Cable265
- Servomotor Main Circuit Wire Size and Connectors270
- SERVOPACK Main Circuit Wire Size300
- Encoder Cables for CN2 Connector302
- Connectors and Cables for Encoder Signals310
- Flexible Cables315
- I/O Signal Cables for CN1 Connector316
- Peripheral Devices319
6 Wiring344
- Wiring Main Circuit345
- Wiring Encoders350
  - Connecting an Encoder (CN2) and Output Signals from the SERVOPACK (CN1)350
  - Encoder Connector (CN2) Terminal Layout351
- Examples of I/O Signal Connections352
- Others361
- Connecting Regenerative Resistors374
  - Regenerative Power and Regenerative Resistance374
  - Connecting External Regenerative Resistors374
7 Digital Operator/Panel Operator379
- Functions on Digital Operator/Panel Operator380
- Operation in Utility Function Mode (Fn )386
- Operation in Parameter Setting Mode (Pn )396
- Operation in Monitor Mode (un )405
  - List of Monitor Modes405
8 Operation409
- Trial Operation411
- Control Mode Selection424
- Setting Common Basic Functions425
- Absolute Encoders434
- Operating Using Speed Control with Analog Reference445
- Operating Using Position Control455
- Operating Using Torque Control468
- Operating Using Speed Control with an Internally Set Speed473
- Limiting Torque476
- Control Mode Selection482
  - Setting Parameters482
  - Switching the Control Mode482
- Other Output Signals484
9 Adjustments487
- Autotuning488
  - Servo Gain Adjustment Methods488
  - List of Servo Adjustment Functions489
- Online Autotuning491
- Manual Tuning498
- Servo Gain Adjustment Functions501
- Analog Monitor514
10 Upgraded Versions516
- Upgraded Versions for SGDM SERVOPACK517
- Upgraded Functions518
  - Additional Functions518
  - Improved Functions518
- Additional Functions519
- Improved Functions531
- Additional and Improved Parameters534
11 Inspection, Maintenance, and Troubleshooting537
- Inspection and Maintenance559
12 Appendix561
- Servomotor Capacity Selection Examples562
- Connection to Host Controller574
- List of Parameters584
- Parameter Recording Table604
Revision History612

Brand	YASKAWA
Model	SGDM Series
Category	Servo Drives
Language	English

YASKAWA SGDM Series User Manual

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YASKAWA SGDM Series Specifications

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