YASKAWA Sigma-7 SGD7S Series - Page 409

n Speed Loop Integral Time Constant
To enable response to even small inputs, the speed loop has an integral element. The
integral element becomes a delay factor in the Servo System. If the time constant is
set too high, overshooting will occur, positioning settling time will increase, and the
response characteristic will suffer.
Speed Loop Integral Time Constant
Setting
Range
Setting Unit Default Set-
ting
When Ena-
bled
Classifica-
tion
Pn101 15 to 51,200 0.01 ms 2,000 Immediately Tuning
(applies to Speed Control and Position Control)
n Torque Reference Filter
As shown in the following diagram, the torque reference filter contains a first order lag
filter and notch filters arranged in series, and each filter operates independently.
The notch filters can be enabled and disabled with Pn408 = n.XX and Pn416 =
n.XXX.
Torque
reference
before filter
First
stage first
torque
reference
filter:
Pn401
Second
stage
second
torque
reference
filter:
Pn40F
Pn410
First
stage
notch filter:
Pn409
Pn40A
Pn40B
Second
stage
notch filter:
Pn40C
Pn40D
Pn40E
Torque
reference
after filter
Torque-Related
Function
Selections 1
Pn408
First order
lag filter
Second order
lag filter
*
Notch filter Notch filter Notch filter Notch filterNotch filter
Torque-Related
Function
Selections 2
Pn416
Third
stage
notch filter:
Pn417
Pn418
Pn419
Fourth
stage
notch filter:
Pn41A
Pn41B
Pn41C
Fifth
stage
notch filter:
Pn41D
Pn41E
Pn41F
Fig. 301: Torque Reference Filter
* The second stage second torque reference filter is disabled when Pn40F is set to 5,000
(default setting) and it is enabled when Pn40F is set to a value lower than 5,000.
n Torque Reference Filter
If you suspect that machine vibration is being caused by the Servo Drive, try adjusting
the torque reference filter time constant. This may stop the vibration. The lower the
value, the better the control response characteristic will be, but there may be a limit
depending on the machine conditions.
First Stage First Torque Reference Filter Time Constant
Setting
Range
Setting Unit Default Set-
ting
When Ena-
bled
Classifica-
tion
Pn401 0 to 65,535 0.01 ms 100 Immediately Tuning
(applies to Speed Control, Position Control and Torque Control)
Second Stage Second Torque Reference Filter Frequency
Setting
Range
Setting Unit Default Set-
ting
When Ena-
bled
Classifica-
tion
Pn40F 100 to 5,000 1 Hz 5000* Immediately Tuning
Sigma-7 Series SERVOPACKs
Tuning
Manual Tuning > Tuning the Servo Gains
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