YASKAWA SVC - Page 107

3.4 Motion Parameter Details
3.4.2 Setting Parameter Details
3-54
Gain and Compensation
 Position Loop Gain
This parameter determines the responsiveness of the SERVOPACK’s position loop.
Setting Precautions
• If the position loop gain is set to a high value, the responsiveness is high and the positioning
time is short. Set the optimum value for the machine rigidity, inertia, and type of Servomotor.
• The actual machine operation follows the settings in the SERVOPACK parameters. Refer to
the following section for details on automatically applying settings to the SERVOPACK
parameters.
3.5 Automatically Updated Parameters on page 3-86
• If automatic parameter application is enabled and this parameter changes, the corresponding
SERVOPACK parameter will change automatically. If changes must be made and automatic
parameter application is not enabled, use the KPS (Change Position Loop Gain) motion com-
mand to change the parameter.
 Speed Loop Gain
This parameter determines the responsiveness of the SERVOPACK’s speed loop.
Setting Precautions
• The Servo system will be more stable the higher this parameter is set, as long as the value is
within the range in which the mechanical system does not oscillate.
• The actual machine operation follows the settings in the SERVOPACK parameters. Refer to
the following section for details on automatically applying settings to the SERVOPACK
parameters.
3.5 Automatically Updated Parameters on page 3-86
• If automatic parameter application is enabled and this parameter changes, the corresponding
SERVOPACK parameter will change automatically. If changes must be made and automatic
parameter application is not enabled, use the KVS (Change Speed Loop Gain) motion com-
mand to change the parameter.
 Speed Feedforward Compensation
Use this parameter to reduce positioning time by applying feedforward compensation.
Setting Precautions
• This parameter is valid for position control.
• Always set this parameter to 0 for phase control.
• If automatic parameter application is enabled and this parameter changes, the corresponding
SERVOPACK parameter will change automatically. If changes must be made and automatic
parameter application is not enabled, use the KFS (Change Feedforward) motion command
to change the parameter.
Register
Address
Name
Setting
Range
Setting Unit Default Control mode
OW2E Position Loop Gain 0 to 32,767 0.1 /s 300
Register
Address
Name
Setting
Range
Setting Unit Default Control mode
OW2F Speed Loop Gain 1 to 2,000 Hz 40
Register
Address
Name
Setting
Range
Setting Unit Default Control mode
OW30
Speed Feedforward Compen-
sation
0 to 32,767 0.01% 0
SVC
Position
Phase
SVC
Position
Speed
Phase
SVC
Position
Phase