Sigma-II Series SGM*H/SGDH USER'S MANUAL - Esco Drives ...

9 Adjustments9.2.4 Machine Rigidity Setting for Online Autotuning9.2.4 Machine Rigidity Setting for Online AutotuningThere are ten machine rigidity settings for online autotuning. When the machine rigidity setting is selected, theservo gains (Speed Loop Gain, Speed Loop Integral Time Constant, Position Loop Gain, and Torque ReferenceFilter Time Constant) are determined automatically. The factory setting for the machine rigidity setting is 4. Thespeed loop is suitable for PI or I-P control.When parameter Pn10B.1 is 0, PI control will be used and when Pn10B.1 is 1, I-P control will be used. To validatethe setting, however, the power supply must be turned OFF and then back ON.After having validated the setting, always set the machine rigidity setting.When setting the machine rigidity after having changed the position loop gain (Pn102), the value closest to theset position loop gain is displayed as the initial value of machine rigidity.• Speed Loop PI ControlMachine RigiditySettingFn001Position Loop Gain[s -1 ]Pn102Speed Loop Gain[Hz]Pn100Speed Loop IntegralTime Constant[0.01 ms]Pn101Torque ReferenceFilter Time Constant[0.01 ms]Pn4011 15 15 6000 2502 20 20 4500 2003 30 30 3000 1304 40 40 2000 1005 60 60 1500 706 85 85 1000 507 120 120 800 308 160 160 600 209 200 200 500 1510 250 250 400 10If the machine rigidity setting is greater, the servo gain will increase and positioning time will decrease. If thesetting is too large, however, vibration may result depending on the machine configuration. Set the machinerigidity starting at a low value and increasing it within the range where vibration does not occur.9-8