YASKAWA SGD7S-1R9D Product Manual page 120

5.1 Manipulating SERVOPACK Parameters (Pn)
5.1.2 Notation for SERVOPACK Parameters
Tuning Parameters
Normally the user does not need to set the tuning parameters individually.
Use the various SigmaWin+ tuning functions to set the related tuning parameters to increase the
response even further for the conditions of your machine. Refer to the following sections for details.
8.6 Autotuning without Host Reference on page 8-23
8.7 Autotuning with a Host Reference on page 8-34
8.8 Custom Tuning on page 8-41
You can also set the tuning parameters individually to make adjustments. Refer to the following section
for details.
8.13 Manual Tuning on page 8-76
5.1.2 Notation for SERVOPACK Parameters
There are two types of notation used for SERVOPACK parameters that depend on whether the
parameter requires a numeric setting (parameter for numeric setting) or requires the selection
of a function (parameter for selecting a function).
•
Parameters for Numeric Settings
Parameter number
Speed Loop Gain
Pn100
(2100 hex)
Object index number
used to access the
parameter with EtherCAT
(CoE) communications
•
Parameters for Selecting Functions
Parameter number
Parameter
Pn002
(2002 hex)
Object index number used to
access the parameter with
EtherCAT (CoE) communications
5-4
The control methods for which the parameters apply are given.
Speed : Speed control
Setting Range Setting Unit
10 to 20,000
0.1 Hz
This is the minimum
This is the
unit (setting increment)
setting range
that you can set for
for the
the parameter.
parameter.
n. 0
Use the encoder according to encoder specifications.
(default setting)
n. 1
Use the encoder as an incremental encoder.
n. 2
Use the encoder as a single-turn absolute encoder.
The notation "n.
selecting functions.
Each indicates the setting for one digit.
The notation shown here means that the third digit
from the right is set to 2.
Position : Position control
Default Setting When Enabled
Immediately
400
This is when any
This is the
change made to
parameter
the parameter will
setting before
become effective.
shipment.
Meaning
" indicates a parameter for
Torque : Torque control
Speed Position
Classification
Tuning
This is the parameter
classification.
When Enabled Classification
After startup Setup
This column explains the
selections for the function.