Sigma II User’s Manual Chapter 6: Servo Adjustment6 - 106.2 High-Speed PositioningThis section provides technical information on high-speed positioning.6.2.1 Setting Servo GainUse the servo gain setting function in the following cases.• To check each servo gain value that is automatically set after auto-tuning.• To directly set each of the above servo gain values in another servo amplifier.• To further refine responsiveness after auto-tuning (either to increase responsive-ness or to reduce it). Setting Speed Loop GainSet the following speed loop related parameters as required.The higher the speed loop gain, or the smaller the speed loop integral time constantvalue, the faster the speed control response will be. There is, however, a certainlimit depending on machine characteristics.Speed loop gain Kv is adjusted in 1Hz increments provided that the followingparameter is set correctly.The load inertia of the servo amplifier reflected at the motor shaft is default set to therotor inertia of the servomotor. Therefore, obtain the inertia ratio from the aboveformula and set parameter Pn103 properly.The above parameters are automatically set by the auto-tuning operation.Parameter Signal Setting ApplicationPn100 Speed Loop Gain (K v) Setting Range: 1 to 2000HzDefault Setting: 40Hz Speed Control, PositionControlPn101 Speed Loop IntegralTime Constant (T i) Setting Range: 15 to 51200 × 0.01msDefault Setting: 2000 × 0.01ms Speed Control, PositionControlParameter Signal Setting(%) ApplicationPn103 Inertia Ratio Setting Range: 0 to 10000Default Setting: 0 Speed/Torque Control,Position ControlKV ( 1+ )1TiSloop gainSpeed feedbackSpeed reference +-Inertia Ratio = × 100%Motor load inertia (JL )Servomotor rotor inertia (JM)
