YASKAWA SIEMENS CNC Series, Maintenance Manual, Serviceman Handbook

Page: 248 / 373

Drive set-up procedure
14.2.2 Speed control
14-38
14.2.2 Speed control
The following explains how to set fundamental drive parameters for speed control.
Servo drive
• MD3030 (Pn100) KV (For each axis)
Meaning: Speed loop gain
Setting value: [0.1 Hz]
To express the setting value in previous unit [1/s], multiply the value by
2
π
/10.
• MD3031 (Pn101) KVI (For each axis)
Meaning: Speed loop integration time constant
Setting value: [0.01 ms]
• MD3033 (Pn103) LOAD_INERTIA_RATIO
Meaning: Load inertia ratio to motor inertia
Setting value: [%]
• MD3041 digit 1 (Pn10B digit 1) GAIN_SWITCH (For each axis) ##
Meaning: Switching between PI control and IP control
Setting value: 0 --- PI control is applied to speed control.
1 --- IP control is applied to speed control.
Standard setting value: 1
• MD3351 (Pn401) TIME_CONST_TRQ_REF_FILTER (For each axis)
Meaning: 1st-stage torque reference filter time constant
Setting value: [0.01 ms]
• MD3363 (Pn40D) TORQUE_FILTER_CONSTANT_2 (For each axis)
Meaning: 2nd-stage torque reference filter time constant
Setting value: [0.01 ms]
• MD3364 (Pn40E) TORQUE_FILTER_CONSTANT_3 (For each axis)
Meaning: 3rd stage torque reference filter time constant
Setting value: [0.001 ms]
Spindle drive
• MD6060 (Cn060) ASR_P_GAIN_H_I (For each axis)
Meaning: Speed control proportional gain (H gear)
Setting value: [0.1%/Hz]
• MD6061 (Cn061) ASR_I_TIME_H_I (For each axis)
Meaning: Speed control integration time (H gear)
Setting value: [0.1 ms]
• MD6062 (Cn062) ASR_P_GAIN_M_L_I (For each axis)
Meaning: Speed control proportional gain (M and L gears)
Setting value: [0.1%/Hz]