YASKAWA SVC - Page 108

3.4 Motion Parameter Details
3.4.2 Setting Parameter Details
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3
Parameters for Motion Control
 Speed Compensation
Set the speed feedforward amount as a percentage of the rated speed when the INTERPO-
LATE (Interpolate), PHASE (Issue Phase Reference), or LATCH (Latch) motion command is exe-
cuted.
Setting Precautions
• The setting unit for this parameter is always 0.01%.
• When this parameter (OW31) is used at the same time as the OL16 setting
parameter (Second Speed Compensation), speed compensation is performed twice.
 Position Loop Integral Time Constant
Set the position loop integral time constant. Use this parameter to improve the following preci-
sion in applications such as electronic cams or shafts.
Setting Precautions
• 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 KIS (Change Position Loop Integral Time Con-
stant) motion command to change the parameter.
 Speed Loop Integral Time Constant
The speed loop has an integral element to enable response to minute inputs.
Setting Precautions
• However, this element also causes a delay in the Servo system, adversely affecting respon-
siveness if the time constant is set too large.
• 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
Register
Address
Name
Setting
Range
Setting Unit Default Control mode
OW31 Speed Compensation
-32,768 to
32,767
0.01% 0
Register
Address
Name
Setting
Range
Setting Unit Default Control mode
OW32
Position Loop Integral Time
Constant
0 to 32,767 ms 0
Register
Address
Name
Setting
Range
Setting Unit Default Control mode
OW34
Speed Loop Integral Time Con-
stant
15 to 65,535 0.01 ms 2,000
SVC
SVR
Position
Phase
SVC
Position
Phase
SVC
Position
Speed
Phase