YASKAWA SGMAH, User Manual

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Sigma II User’s Manual Chapter 6: Servo Adjustment
6 - 40
6.4.4 Gain Setting Reference Values
This section describes servo gain reference values.
Refer to the following for optimal gain adjustments according to the rigidity of the
mechanical system. Refer to these values and use the previously mentioned methods
to make gain adjustments. These values are for reference only and do not mean that
the mechanical system has good response characteristics or is free from oscillation in
the specified ranges.
Observe the response by monitoring the response waveform and make the optimum
gain adjustments. If the rigidity of the machinery is high, gain increments exceeding
the described ranges are possible.
Machines with High Rigidity
These machines are directly connected to ball screws.
Examples: Chip mounting machine, bonding machine, and high-precision machine
tool
Machines with Medium Rigidity
These machines are driven by ball screws through speed reducers or long-length
machines directly driven by screws.
Examples: General machine tool, transverse robot, and conveyor
Machines with Low Rigidity
These machines are driven by timing belts, chains, or machines with harmonic gear
reducers.
Examples: Conveyor, and articulated robot
Position Loop Gain (Pn102) Speed Loop Gain (Pn100)
Speed Loop Integral Time Constant
(Pn101)
50 to 70s
-1
50 to 70Hz 5 to 20ms
Position Loop Gain (Pn102)
Speed Loop Gain
(Pn100)
Speed Loop Integral Time Constant
(Pn101)
30 to 50s
-1
30 to 50Hz 10 to 40ms
Position Loop Gain (Pn102) Speed Loop Gain (Pn100)
Speed Loop Integral Time Constant
(Pn101)
10 to 20s
-1
10 to 20Hz 50 to 120ms