YASKAWA Sigma II Series User Manual

9.4 Servo Gain Adjustment Functions
9-19
9
Adjustments
9.4.6 Setting the Speed Bias
The settling time for positioning can be reduced by setting the following parameters to add bias in the speed ref-
erence block in the SERVOPACK.
9.4.7 Speed Feedback Filter
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.
When this function is used, it is assumed that the moment of inertia ratio set in Pn103 is correct. Verify that the
moment of inertia ratio has been set correctly.
Pn107
Bias
Setting Range Setting Unit Factory Setting Setting Validation
0 to 450
1 min
-1
0 Immediately
Pn108
Bias Width Addition
Setting Range Setting Unit Factory Setting Setting Validation
0 to 250 1 Reference units 7 Immediately
Position
Position
To reduce the positioning time, set these parameters
based on the machine’s characteristics.
The Bias Width Addition (Pn108) specifies when the
Bias (Pn107) is added and the width is expressed in
error pulse units. The bias input will be added when
the error pulse value exceeds the width set in Pn108.
Bias width addition
Bias set
Bias (Pn107)
Bias (Pn107)
No bias
(Pn108)
Bias width addition
Pn108
(Pn108)
Error pulse
Speed reference
Pn308
Speed Feedback Filter Time Constant
Setting Range Setting Unit Factory Setting Setting Validation
0 to 65,535
(0.00 to 655.35 ms)
0.01 ms
0
(0.00 ms)
Immediately
Sets the 1st-order filter for the speed loop’s speed feedback. Makes the motor speed smoother and reduces vibration. If the
set value is too high, it will introduce a delay in the loop and cause poor responsiveness.
Speed
Position
Pn110
Online Autotuning Switches
Setting Range Setting Unit Factory Setting Setting Validation
−−0010 After restart
Speed
Position
Pn111
Speed Feedback Compensation
Setting Range Setting Unit Factory Setting Setting Validation
1 to 500 1% 100 Immediately
Speed
Position
Parameter Function
Pn110
n.

0

Speed feedback compensation is used.
n.

1

Speed feedback compensation is not used. (Standard speed feedback)
IMPORTANT

YASKAWA Sigma II Series Specifications

General

Brand	YASKAWA
Model	Sigma II Series
Category	Controller
Language	English