YASKAWA SGLFW, User Manual

Page: 367 / 447

10 Adjustments
10.4.6 Setting the Speed Bias
10-22
10.4.6 Setting the Speed Bias
The settling time for positioning can be reduced by setting the following parameters to add bias in the speed ref-
erence block in the SERVOPACK.
10.4.7
Speed Feedback Filter
Pn180 Bias
Setting Range Setting Unit Factory Setting Setting Validation
0 to 450
1 mm/s
0 Immediately
Pn108 Bias Width Addition
Setting Range Setting Unit Factory Setting Setting Validation
0 to 250 1 Reference units 7 Immediately
Position
Position
To reduce the positioning time, set these parameters
based on the machine’s characteristics.
The Bias Width Addition (Pn108) specifies when the
Bias (Pn180) is added and the width is expressed in
error pulse units. The bias input will be added when
the error pulse value exceeds the width set in Pn108.
Bias width addition
Bias set
Bias (Pn180)
Bias (Pn180)
No bias
(Pn108)
Bias width addition
Pn108
(Pn108)
Error pulse
Speed reference
Pn308 Speed Feedback Filter Time Constant
Setting Range Setting Unit Factory Setting Setting Validation
0 to 65,535
(0.00 to 655.35 ms)
0.01 ms 0 Immediately
Sets the 1st-order filter for the speed loop’s speed feedback. Makes the motor speed smoother and reduces vibration. If the
set value is too high, it will introduce a delay in the loop and cause poor responsiveness.
Speed
Position