YASKAWA SGM Series User Manual page 122

J Cn-001C: Bias
D Sets the position control bias. This constant is used depending on load conditions to shorten
positioning time.
D Allowable setting range: 0 to maximum motor speed [¢ 100 reference units/s]
J Cn-001D: Feed Forward Compensation
D Sets the feed forward compensation for the position controller.
D Allowable setting range: 0 to 100 [%]
J Cn-0027: Feed Forward Reference Filter
D Sets the primary lag filter to add to the feed forward compensation.
D This constant can be used to reduce the impact of feed forward control.
D Allowable setting range: 0 to 64000 [µs]
7.1.3 Torque-related Constants
The following torque-related user constants are available.
J Cn-0006: Emergency Stop Torque
D Sets the stopping torque (deceleration by emergency stop torque with deceleration constant
Cn-0001 bit 8 set to 1) for overtravel.
D Allowable setting range: 0 to maximum torque [%]
J Cn-0008: Forward Torque Limit
D Sets the motor torque limit for forward rotation (for reverse rotation with reverse rotation
mode).
D The motor torque will be controlled within this limit during forward rotation.
D Allowable setting range: 0 to maximum torque [%]
J Cn-0009: Reverse Torque Limit
D Sets the motor torque limit for reverse rotation.
D The motor torque will be controlled within this limit during reverse rotation.
D Allowable setting range: 0 to maximum torque [%]
J Cn-0017: Torque Reference Filter Time Constant
D Sets the primary lag filter to add to the reference torque for speed error and speed loop gain.
D This constant is used to prevent vibration due to mechanical resonance.
D Allowable setting range: 0 to 25000 [µs]
J Cn-0018: Torque Reference Filter Time Constant (Secondary)
D Sets a secondary lag filter. The filtering effect can be improved by applying a secondary lag
filter to the reference torque.
7 -3
7.1 Setting User Constants
7