4-117
H Setting Procedure
• Measure the torque vibration frequency by increasing the Pn100 (speed loop gain) with the machinery
vibrating slightly. Use the OMNUC W-series Servo Driver Computer Monitoring Software to measure
the analog monitor (torque command monitor) output.
• Set the measured frequency using Pn409 (or Pn40b) (notch filter 1/2 frequency).
• Adjust the value of Pn409 (or Pn40b) slightly to minimize output torque vibration.
• Gradually raise the Q value (Pn40A or Pn40C) within the range in which the vibration will not increase.
• Once again, adjust Pn100 (speed loop gain), Pn101 (speed loop integration constant), Pn102 (posi-
tion loop gain), and Pn401 (torque command filter time constant) according to 4-7-2 Manual Tuning.
4-8-8 Speed Feedback Compensation (Position, Speed,
Internally-set Time Control)
H Functions
• This function shortens positioning time.
• This function works to lower the speed loop feedback gain, and raise the speed loop gain and position
loop gain. Consequently, responsiveness to commands is improved, and positioning time can be
shortened. Noise sensitivity is lowered, however, so positioning time cannot be shortened where there
is external force applied, such as with the vertical axis.
Note If you use the speed feedback compensation function, online auto-tuning will not operate normal-
ly. To use the speed feedback compensation function, turn OFF the online auto-tuning (Pn110.0 =
2).
H Parameters Requiring Settings
Parameter No. Parameter name Explanation Reference
Pn110.1 Selects speed
feedback
compensation
function
To use the speed feedback compensation function,
set Pn110.1 to 1 (speed feedback compensation
function ON).
4-4-4
Parameter
Details
Pn111 Speed feedback
compensating gain
Adjusts the speed loop feedback gain.
• Reduce the setting value for Pn111 (speed feedback compensating gain) to increase the speed loop
gain and position loop gain. If the value is too small, the response may vibrate.
H Setting Procedure
• To perform adjustment, measure the position error and torque command. Refer to the OMNUC W-se-
ries Servo Driver personal computer monitoring software to measure the analog monitor output.
• Follow 4-7-2 Manual Tuning to adjust Pn100 (speed loop gain), Pn101 (speed loop integration time
constant), Pn102 (position loop gain), and Pn401 (torque command filter time constant) to quickly set
the position error to zero without the torque command vibrating.
Operation Chapter 4
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