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

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9.4 Servo Gain Adjustment Functions9.4 Servo Gain Adjustment Functions9.4.1 Feed-forward ReferencePn109Feed-forwardPositionPn10ASetting Range Setting Unit Factory Setting Setting Validation0 to 100 % 0 ImmediatelyFeed-forward Filter Time ConstantPositionSetting Range Setting Unit Factory Setting Setting Validation0 to 6,4000.01ms 0 Immediately(0.00 to 64.00 ms)Applies feed-forward compensation in position control insidethe SERVOPACK. Use this parameter to shorten positioningtime. Too high value may cause the machine to vibrate. Forordinary machines, set 80% or less in this parameter.Positionreference pulseDifferentialPn109Pn10A+Position loop + +gain Kp-Encoder feedback pulse99-15
9 Adjustments9.4.2 Torque Feed-forward9.4.2 Torque Feed-forwardParameterMeaningPn002 n.0 Disabledn.2 Uses T-REF terminal for torque feed-forward input.Pn400Torque Reference Input GainSpeed Position TorqueSetting Range Setting Unit Factory Setting Setting Validation10 to 100(1.0 to 10.0V/Ratedtorque)0.1V/Rated torque 30 ImmediatelyThe torque feed-forward function is valid only in speed control (analog reference).The torque feed-forward function shortens positioning time, differentiates a speed reference at the host controller to generatea torque feed-forward reference, and inputs the torque feed-forward reference together with the speed reference to theSERVOPACK.Too high a torque feed-forward value will result in overshooting or undershooting. To prevent such troubles, set the optimumvalue while observing the system responsiveness.Connect a speed reference signal line to V-REF (CN1-5 and -6) and a torque forward-feed reference to T-REF (CN1-9 and-10) from the host controller.Host controllerSERVOPACKPositionreferenceT-REF (CN1-9)DifferentialK FFPn400Servomotor+ V-REF (CN1-5) ++ ++ Kp Pn300 Pn100 Current loop M-+-+Integration(Pn101)SpeedPGcalculationDividerEncoderKp: Position loop gainK FF : Feed-forward gainTorque feed-forward is set using the parameter Pn400.The factory setting is Pn400 = 30. If, for example, the torque feed-forward value is ±3V, then, the torque is limited to±100% of the rated torque.The torque feed-forward function cannot be used with torque limiting by analog voltage reference described in 8.9.3Torque Limiting Using an Analog Voltage Reference.9-16
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YASKAWASeries SGMH/SGDHUSER'S MANUA
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• Quick access to your required i
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WARNING• Installation, disassembl
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• WiringCAUTION• Do not connect
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• Maintenance and InspectionCAUTI
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2.6.1 Special Options - - - - - - -
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3.16 Dimensional Drawings of SGMSH
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5 Specifications and Dimensional Dr
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6.2.1 Connecting an Encoder (CN2) a
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8.7.1 Setting Parameters - - - - -
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11.3.1 Utility Functions List - - -
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PURODUCT SERVICE1 Outline1.1.1 Chec
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1 Outline1.2.1 Servomotors1.2 Produ
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1 Outline1.2.2 SERVOPACKs(2) SGDH f
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1 Outline1.3.2 Three-phase, 200 V M
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1 Outline1.4.1 North American Safet
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2 Selections2.1.1 Model SGMAH (3000
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2 Selections2.1.2 Model SGMPH (3000
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2 Selections2.1.3 Model SGMGH (1500
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2 Selections2.1.4 Model SGMGH (1000
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2 Selections2.1.5 Model SGMSH (3000
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2 Selections2.1.6 Model SGMDH (2000
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2 Selections2.2.1 Support Tool for
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2 Selections2.2.2 Servomotor Capaci
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2 Selections2.5.1 Cables for SGMAH
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2 Selections2.5.1 Cables for SGMAH
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2 Selections2.5.2 Cables for SGMGH/
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2 Selections2.5.2 Cables for SGMGH/
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MODE/SETCHARGEDATA/POWER67534675346
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2 Selections2.6.1 Special OptionsNa
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2 Selections2.6.3 Noise Filters, Ma
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2 Selections2.6.4 Regenerative Resi
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φLBh7φSh6119.5(0.37)W3 Specificat
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φLBh7φSh617(0.67)9.5 (0.37)W3 Spe
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11 (0.43)W3 Specifications and Dime
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W3 Specifications and Dimensional D
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4 SERVOPACK Specifications and Dime
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MODE/SETCHARGEDATA/POWER4 SERVOPACK
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160 (6.30)(5) (0.20)149.5±0.5 (5.8
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YASKAWAMODE/SETCHARGEYASKAWA SERVOP
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POWERMODE/SETDATA/4 SERVOPACK Speci
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MODE/SETDATA/4 SERVOPACK Specificat
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MODE/SETCHANGEDATA/POWER4 SERVOPACK
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POWERMODE/SETDATA/4 SERVOPACK Speci
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POWERMODE/SET DATA/ BATTERY4 SERVOP
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6754675346754381 2890 1 281 29090X1
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6 Wiring6.1.1 Names and Functions o
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6 Wiring6.1.2 Wiring Main Circuit P
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6 Wiring6.1.3 Typical Main Circuit
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6 Wiring6.2.1 Connecting an Encoder
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6 Wiring6.3.1 Speed Control Mode6.3
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6 Wiring6.3.3 Torque Control Mode6.
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6 Wiring6.3.5 I/O Signal (CN1) Name
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6 Wiring6.3.6 Interface Circuit6.3.
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6 Wiring6.3.6 Interface Circuit(b)
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6 Wiring6.4.2 Wiring for Noise Cont
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6 Wiring6.4.2 Wiring for Noise Cont
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6 Wiring6.4.3 Installation Conditio
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6 Wiring6.4.4 Installation Conditio
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6 Wiring6.4.6 Extending Encoder Cab
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6 Wiring6.4.7 Operating Conditions
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6 Wiring6.4.8 DC Reactor for Harmon
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6 Wiring6.5.2 Connecting External R
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MODE/SETCHARGEYASKAWA SERVOPACKDATA
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7Digital Operator/Panel Operator7.1
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7.1 Functions on Digital Operator/P
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7.2 Operation in Utility Function M
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7.3 Operation in Parameter Setting
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7.4 Operation in Monitor Mode (Un)(
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7.4 Operation in Monitor Mode (Un)S
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8 Operation8.6 Operating Using Posi
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YASKAWAMODE/SETCHARGEYASKAWAMODE/SE
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MODE/SETYASKAWASERVOPACKSGDH-CHARGE
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8 Operation8.1.1 Trial Operation fo
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YASKAWASERVOPACKSGDH-MODE/SETCHARGE
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8 Operation8.1.4 Servomotor with Br
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8 Operation8.3.1 Setting the Servo
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8 Operation8.3.3 Setting the Overtr
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8 Operation8.3.4 Setting for Holdin
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8 Operation8.3.4 Setting for Holdin
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8 Operation8.3.6 Instantaneous Powe
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8 Operation8.4.1 Interface Circuits
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8 Operation8.4.4 Replacing Batterie
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8 Operation8.4.6 Absolute Encoder R
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8 Operation8.4.6 Absolute Encoder R
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8 Operation8.4.7 Multiturn Limit Se
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8 Operation8.5.1 Setting Parameters
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8 Operation8.5.3 Adjusting Offset8.
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8 Operation8.5.3 Adjusting Offset(2
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Page 512 and 513: 9Adjustments9.1 Autotuning - - - -
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Page 564 and 565: 11Appendix11.1 Servomotor Capacity
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11.1 Servomotor Capacity Selection
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11.1 Servomotor Capacity Selection
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11.2 Connection to Host Controller1
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11.3 List of Parameters11.3.2 List
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11.3 List of ParametersParameterNo.
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11.3 List of Parameters11.3.3 Monit
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11.4 Parameter Recording TableParam
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IndexINDEXAabsolute encoder battery
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IndexRrack-mounted type - - - - - -
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IndexWWARN- - - - - - - - - - - - -
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Series SGMH/SGDHUSER'S MANUALIRUMA
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Sigma-II Series SGM*H/SGDH USER'S MANUAL - Esco Drives ...

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