YASKAWA SGM Series User Manual page 121

User Constants
7.1.2 Gain-related Constants
7.1 Setting User Constants
7.1.1 Basic User Constants
7.1.2 Gain-related Constants
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The following user constants (parameters) are available with the SERVOPACK. Set or change the
user constants to fit your system.
The following basic user constants are available.
J Cn−0037: Servomotor Selection
Selects the Servomotor, but the setting can be changed only once after power is turned ON.
Cn−0037 is set by the type of Servomotor used, so set the correct Servomotor type. Table 7.1
(page 7 -23) shows Servomotor codes. Do not change this setting during motor running.
J Cn−0011: Number of Encoder Pulses
Sets the number of pulses per encoder revolution. The setting can be changed only once after
power is turned ON; do not change the setting during motor running.
J Cn−0003: Load Inertia
Sets the load inertia for the moment of inertia ratio on the motor shaft. The allowable setting
range is 0 to 65535 [%], but regeneration and other factors must be considered if the Servomotor
exceeds the allowable load inertia. See 5.6.2 (page 5 -10).
The following gain-related user constants are available.
J Cn-0004: Speed Loop Gain
D Sets the proportional gain for the speed controller.
D Allowable setting range: 1 to 20000 [¢ 0.1 Hz]
D Sets the constant at 40 [Hz] maximum when the motor is running under no-load conditions.
J Cn-0005: Speed Loop Integration Time Constant
D Sets the integration time constant for the speed controller.
D Allowable setting range: 100 to 65535 [¢ 0.01 ms]
J Cn-001A: Position Loop Gain
D Sets the proportional gain for the position controller.
D Allowable setting range: 1 to 50000 [¢ 0.01/s]
7 -2