YASKAWA SGD7S Product Manual page 484

13.1 List of Servo Parameters
13.1.2 List of Servo Parameters
Parameter
No.
Pn104
Pn105
Pn106
Pn109
Pn10A
Pn10B
Pn10C
Pn10D
Pn10E
Pn10F
Pn11F
Pn121
Pn122
Pn123
Pn124
Pn125
13-12
Name
Second Speed Loop
2
Gain
Second Speed Loop
2
Integral Time Constant
Second Position Loop
2
Gain
2 Feedforward
Feedforward Filter Time
2
Constant
Gain Application Selec-
2
tions
Mode Switching Selection
Use the internal torque reference as the condition
0
(level setting: Pn10C).
Use the speed reference as the condition (level set-
ting: Pn10D).
1
Use the speed reference as the condition (level set-
ting: Pn181).

n. X
Use the acceleration reference as the condition (level
setting: Pn10E).
2
Use the acceleration reference as the condition (level
setting: Pn182).
Use the position deviation as the condition (level set-
3
ting: Pn10F).
4 Do not use mode switching.
Speed Loop Control Method
0 PI control
 
n. X
1 I-P control
2 and 3 Reserved settings (Do not use.)
 
n. X Reserved parameter (Do not change.)

n.X Reserved parameter (Do not change.)
Mode Switching Level
2
for Torque Reference
Mode Switching Level
2
for Speed Reference
Mode Switching Level
2
for Acceleration
Mode Switching Level
2
for Position Deviation
Position Integral Time
2
Constant
Friction Compensation
2
Gain
Second Friction Com-
2
pensation Gain
Friction Compensation
2
Coefficient
Friction Compensation
2
Frequency Correction
Friction Compensation
2
Gain Correction
Setting Setting Default
Range Unit Setting
10 to 20,000 0.1 Hz 400
15 to 51,200 0.01 ms 2000
10 to 20,000 0.1/s 400
0 to 100 1% 0
0 to 6,400 0.01 ms 0
0000 to
– 0000
5334
0 to 800 1% 200
-1
0 to 10,000 0
1 min
0 to 30,000 -1 0
1 min /s
1 refer-
0 to 10,000 ence 0
unit
0 to 50,000 0.1 ms 0
10 to 1,000 1% 100
10 to 1,000 1% 100
0 to 100 1% 0
-10,000 to
0.1 Hz 0
10,000
1 to 1,000 1% 100
Continued from previous page.
Applicable When Classi-
Motors Enabled fication
Immedi-
All Tuning
ately
Immedi-
All Tuning
ately
Immedi-
All Tuning
ately
Immedi-
All Tuning
ately
Immedi-
All Tuning
ately
All – Setup
When
Reference
Enabled
Immedi-
page 8-91
ately
When
Reference
Enabled
After
page 8-80
restart
Immedi-
All Tuning
ately
Immedi-
Rotary Tuning
ately
Immedi-
Rotary Tuning
ately
Immedi-
All Tuning
ately
Immedi-
All Tuning
ately
Immedi-
All Tuning
ately
Immedi-
All Tuning
ately
Immedi-
All Tuning
ately
Immedi-
All Tuning
ately
Immedi-
All Tuning
ately
Continued on next page.
Refer-
ence
page
8-66
page
8-66
page
8-66
page
8-91
page
8-91
–
page
8-91
page
8-91
page
8-91
page
8-91
page
8-94
page
8-66,
page
8-70
page
8-66,
page
8-70
page
8-70
page
8-70
page
8-70