5.1 Adjustments and Basic Adjustment Procedure5-75 AdjustmentsThe following diagram shows the analog monitor output at position control.Analog monitor output at n.00 (motor speed setting)5.1.4 Safety Precautions on Adjustment of Servo GainsYaskawa recommends that the following protective functions of the SERVOPACK are set to the correct set-tings before starting to adjust the servo gains.Kp(CN2)(U/V/W)-++-+ + +-+MTREFVREFPositionreference1SERVOPACKSpeed feedforwardPosition reference speedPositionamplifier errorCompletionof postionreferenceMotor speedSpeed referenceActive gainForcereferenceSpeedconversionSpeedconversionElectricgearSpeedloopCurrentloopElectricgearPosition loopForce feedforwardErrorcounterErrorcounter LoadKpPosition errorPositioningcompletedEnc+6 V-6 V-600+600+8 V-8 V-800+800+10 V CRRTQZ-10 VCRRTQZ+6 V-6 V-6000+6000Analog monitoroutput voltage =V?Analog monitoroutput voltage=V?When multiplier is set to × 1: When multiplier is set to × 10:Motor speed=min -1?Motor speed=min -1?Note: Linear effective range: within ± 8VCAUTION• If adjusting the servo gains, observe the following precautions.• Do not touch the moving section of the motor while power is being supplied to the motor.• Before starting the servomotor, make sure that the emergency-stop circuit works correctly.• Make sure that a trial run has been performed without any trouble.• Install a safety brake on the machine.
