YASKAWA SGMJV User Manual page 253

(4) Related Parameters
Speed Loop Gain
Pn100
Setting Range
10 to 20000
Speed Loop Integral Time Constant
Pn101
Setting Range
15 to 51200
Position Loop Gain
Pn102
Setting Range
10 to 20000
Model Following Control Gain
Pn141
Setting Range
10 to 20000
Model Following Control Gain Compensation
Pn142
Setting Range
500 to 2000
2nd Speed Loop Gain
Pn104
Setting Range
10 to 20000
2nd Speed Loop Integral Time Constant
Pn105
Setting Range
15 to 51200
2nd Position Loop Gain
Pn106
Setting Range
10 to 20000
Friction Compensation Gain
Pn121
Setting Range
10 to 1000
2nd Gain for Friction Compensation
Pn122
Setting Range
10 to 1000
2nd Model Following Control Gain
Pn148
Setting Range
10 to 20000
2nd Model Following Control Gain Compensation
Pn149
Setting Range
500 to 2000
2nd Torque Reference Filter Time Constant
Pn412
Setting Range
0 to 65535
Setting Unit Factory Setting
0.1 Hz 400
Setting Unit Factory Setting
0.01 ms 2000
Setting Unit Factory Setting
0.1/s 400
Setting Unit Factory Setting
0.1/s 500
Setting Unit Factory Setting
0.1% 1000
Setting Unit Factory Setting
0.1 Hz 400
Setting Unit Factory Setting
0.01 ms 2000
Setting Unit Factory Setting
0.1/s 400
Setting Unit Factory Setting
0.1 % 100
Setting Unit Factory Setting
1 % 100
Setting Unit Factory Setting
0.1/s 500
Setting Unit Factory Setting
0.1 % 1000
Speed
Setting Unit Factory Setting
0.01 ms 100
6.8 Additional Adjustment Function
Speed Position
Classification
When Enabled
Immediately
Speed Position
Classification
When Enabled
Immediately
Position
Classification
When Enabled
Immediately
Speed Position
Classification
When Enabled
Immediately
Speed Position
Classification
When Enabled
Immediately
Speed Position
Classification
When Enabled
Immediately
Speed Position
Classification
When Enabled
Immediately
Position
Classification
When Enabled
Immediately
Speed Position
Classification
When Enabled
Immediately
Speed Position
Classification
When Enabled
Immediately
Speed Position
Classification
When Enabled
Immediately
Speed Position
Classification
When Enabled
Immediately
Torque
Position
Classification
When Enabled
Immediately
Tuning
Tuning
Tuning
Tuning
Tuning
Tuning
Tuning
Tuning
Tuning
Tuning
6
Tuning
Tuning
Tuning
6-59