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

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9.4 Servo Gain Adjustment Functions9.4.3 Speed Feed-forwardParameterMeaningPn207 n.0 Disabledn.1 Uses V-REF terminal for speed feed-forward input.Pn300Speed Reference Input GainSpeed Position TorqueSetting Range Setting Unit Factory Setting Setting Validation150 to 3,000(1.50 to 30.00 V/Ratedspeed)0.01 V/Ratedspeed600 ImmediatelyThe speed feed-forward function uses analog voltages and is valid only in position control.The speed feed-forward function is used to shorten positioning time. The host controller differentiates the position referenceto generate the feed-forward reference, and inputs the feed-forward reference together with the position reference tothe SERVOPACK.Too high a speed feed-forward value will result in overshooting or undershooting. To prevent such troubles, set the optimumvalue while observing the system responsiveness.Connect a position reference signal line to PULS and SIGN (CN1-7, -8, -11, and -12) and a speed feed-forward referencesignal line to V-REF (CN1-5 and -6) from the host controller.Host controllerSERVOPACKPositionreferenceDifferentialV-REF (CN1-5 and -6)K FF Pn300++ ++Kp ( Pn102 )Pn100PULS -- +SIGNIntegration(Pn101)Current loopServomotorMSpeedcalculationPGEncoderKp: Position loop gainK FF : Feed-forward gainSpeed feed-forward value is set using the parameter Pn300.The factory setting is Pn300 = 600. If, for example, the speed feed-forward value is ±6V, then the speed is limited to therated speed.99-17
9 Adjustments9.4.4 Proportional Control Operation (Proportional Operation Reference)9.4.4 Proportional Control Operation (Proportional Operation Reference)If parameter Pn000.1 is set to 0 or 1 as shown below, the /P-CON input signal serves as switch to change betweenPI control and P control.• PI control: Proportional/Integral control• P control: Proportional controlParameterControl ModePn000 n.0 SpeedControln.1PositionControlEffective in speed control or positioncontrol.Input signal /P-CON (CN1-41) is usedto select PI control or P control.CN1-41 is OFF(H level).PI controlP/PISwitching/P-CONSERVOPACKCN141CN1-41 is ON(L level).P control• When sending references from the host controller to the SERVOPACK, P control mode can be selected from the hostcontroller for particular operating conditions. This mode switching method can be used to suppress overshooting andshorten the settling time. Refer to 9.4.5 Using the Mode Switch (P/PI Switching) for more details on inputting the /P-CON signal and switching the control mode for particular operating conditions.• If PI control mode is being used and the speed reference has a reference offset, the servomotor may rotate very slowlyand fail to stop even if 0 is specified as the speed reference. In this case, use P control mode to stop the servomotor.9-18
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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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8 Operation8.5.6 Using the Zero Cla
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Page 512 and 513: 9Adjustments9.1 Autotuning - - - -
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Page 526 and 527: 9.4 Servo Gain Adjustment Functions
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Page 542 and 543: 10 Inspection, Maintenance, and Tro
Page 564 and 565: 11Appendix11.1 Servomotor Capacity
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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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