I think you made a mistake Mr. Pelletier. You documented the max position error at 19:00 as 10 million (1*10^7) pulses. However, when looking at the CSV data of position error at 19:30 we saw a greater position error of 20 million (2*10^7) pulses.
For consistency, the measurements documented are only those displayed in SigmaWin+, as this tool is sufficient for tuning measurements. As mentioned at 18:30 1*10^7 is the maximum display in SigmaWin+ and this is enough for tuning purposes to show that the position error is extremely high. At 19:10, after the official SigmaWin+ measurement was documented, the CSV method is shown as an "aside" for completeness sake. We do not expect students to use this method in the field or in training class.
How can position reference speed be input of position loop if that param shown in speed units (6:50)? Isn't this param a derivative of real position reference and shouldn't it goes to input of speed loop?
The position reference speed is part of the control block diagram where it is input before applying position loop gain. For more information about our products in your region, please visit: www.yaskawa-global.com/company/profile/global
