For machines for which a high position loop gain (Pn102) cannot be set,
overflow alarms can occur during high-speed operation. If that is the
case, you can increase the setting of the following parameter to increase
the level for alarm detection.
Use the following condition as a guideline for determining the setting.
Pn520
Pn102 ÷ 10 (1/s)
2.0
³
´
Maximum feed speed [reference units/s]
Fig. 299: Pn520 (Position Deviation Overflow Alarm Level) setting
If you use a position reference filter, transient deviation will increase due to the filter time
constant. When you make the setting, consider deviation accumulation that may result
from the filter.
Position Deviation Overflow Alarm Level
Setting
Range
Setting Unit Default Set-
ting
When Ena-
bled
Classifica-
tion
Pn520 1 to
1,073,741,82
3
1 reference
unit
5,242,880 Immediately Setup
(applies to Position Control)
n Speed Loop Gain
This parameter determines the response characteristic of the speed loop. If the
response characteristic of the speed loop is low, it becomes a delay factor for the
position loop located outside of the speed loop. This will result in overshooting and
vibration in the speed reference.
Therefore, setting the speed loop gain as high as possible within the range that will
not cause the machine system to vibrate will produce a stable Servo System with a
good response characteristic.
Speed Loop Gain
Setting
Range
Setting Unit Default Set-
ting
When Ena-
bled
Classifica-
tion
Pn100 10 to 20,000 0.1 Hz 400 Immediately Tuning
(applies to Speed Control, Position Control and Torque Control)
Setting of Pn103 =
Servomotor moment of inertia (L
M
)
100(%)
´
Load moment of inertia at motor shaft (J
L
)
Fig. 300: Pn103 (Moment of Inertia Ratio) setting
The default setting of Pn103 (Moment of Inertia Ratio) is 100. Before you tune the servo,
calculate the moment of inertia ratio with the above formula and set Pn103 to the calcula-
tion result.
Moment of Inertia Ratio
Setting
Range
Setting Unit Default Set-
ting
When Ena-
bled
Classifica-
tion
Pn103 0 to 20,000 1% 100 Immediately Tuning
(applies to Speed Control, Position Control and Torque Control)
Sigma-7 Series SERVOPACKs
Tuning
Manual Tuning > Tuning the Servo Gains
| | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en | 408
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