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

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9.4 Servo Gain Adjustment Functions9.4.8 Speed Feedback CompensationThe speed feedback compensation can be used to reduce vibration and allow a higher speed loop gain to be set. Inthe end, the speed feedback compensation allows the positioning settling time to be reduced because the positionloop gain can also be increased if the speed loop gain can be increased.Pn110Online Autotuning SwitchesSpeed PositionSetting Range Setting Unit Factory Setting Setting Validation− − 0010 After restartPn111Speed Feedback CompensationSpeed PositionSetting Range Setting Unit Factory Setting Setting Validation1 to 500 % 100 ImmediatelyParameterFunctionPn110 n.0 Speed feedback compensation is used.n.1 Speed feedback compensation is not used. (Standard speed feedback)IMPORTANTWhen this function is used, it is assumed that the moment of inertia ratio set in Pn103 is correct. Verify thatthe moment of inertia ratio has been set correctly.Error counteroutputPosition loop gain(Pn102) +-SpeedreferenceSpeed loopPI control(Pn100,Pn101)Torque referencefilter time constant(Pn401)Torque referenceSpeed feedbackSpeed feedback compensation selection(Pn110.1)Speed feedbackcompensation(Pn111)Speed feedback compensation function99-23
9 Adjustments9.4.8 Speed Feedback Compensation(1) Adjustment ProcedureThe following procedure explains how to adjust when the speed loop gain cannot be increased due to vibrationsin the mechanical system. When adding a speed feedback compensation, observe the position error and torquereference with the analog monitor while adjusting the servo gain. Refer to 9.5 Analog Monitor on monitoring theposition error and torque reference.1. Set parameter Pn110 to “0002” so that the following conditions are satisfied.• To use the speed feedback compensation• Not to use the online autotuning function2. With PI control, gradually increase the Speed Loop Gain in Pn100 and reduce the Speed Loop IntegralTime Constant Pn101, so that the setting the Position Loop Gain in Pn102 to the same value as that of theSpeed Loop Gain in Pn100.Use the result from the following equation as an initial estimate when setting the Speed Loop IntegralTime Constant in Pn101.Speed loop integral time constant (Pn101)40002 Pn100Speed loop gain units: HzCheck the units when setting the Speed Loop Integral Time Constant in Pn101. The value in Pn101 is setin units of 0.01 ms.Set the same value for the speed loop gain and position loop gain even though the speed loop gain units(Hz) are different form the position loop gain units (1/s).3. Repeat step 2 to increase the speed loop gain while monitoring the settling time with the analog monitor’sposition error and checking whether vibration occurs in the torque reference. If there is any vibratingnoise or noticeable vibration, gradually increase the Torque Reference Filter Time Constant in Pn401.4. Gradually increase only the position loop gain. When it has been increased about as far as possible, thendecrease the Speed Feedback Compensation in Pn111 from 100% to 90%. Then repeat steps 2 and 3.5. Decrease the speed feedback compensation to a value lower than 90%. Then repeat steps 2 through 4 toshorten the settling time. If the speed feedback compensation is too low, however, the response waveformwill oscillate.6. Find the parameter settings that yield the shortest settling time without causing vibration or instability inthe position error or torque reference waveform being observed with the analog monitor.7. The servo gain adjustment procedure is complete when the positioning time cannot be reduced any more.IMPORTANTThe speed feedback compensation usually makes it possible to increase the speed loop gain and positionloop gain. Once the speed loop gain and position loop gain have been increased, the machine may vibratesignificantly and may even be damaged if the compensation value is changed significantly or Pn110.1 is setto “1” (i.e., speed feedback compensation disabled).9-24
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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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8 Operation8.5.7 Encoder Signal Out
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8 Operation8.6.1 Setting Parameters
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8 Operation8.6.2 Setting the Electr
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Page 512 and 513: 9Adjustments9.1 Autotuning - - - -
Page 514 and 515: 9.1 Autotuning9.1.2 List of Servo A
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Page 542 and 543: 10 Inspection, Maintenance, and Tro
Page 564 and 565: 11Appendix11.1 Servomotor Capacity
Page 566 and 567: 11.1 Servomotor Capacity Selection
Page 580 and 581: 11.2 Connection to Host Controller1
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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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