YASKAWA SGMJV User Manual page 341

10 Appendix
Parameter
Size
No.
Mode Switch
Pn10C 2
(torque reference)
Pn10D 2 Mode Switch (speed reference)
Pn10E 2 Mode Switch (acceleration)
Pn10F 2 Mode Switch (position error)
Position Integral Time
Pn11F 2
Constant
Pn121 2 Friction Compensation Gain
2nd Gain for Friction
Pn122 2
Compensation
Friction Compensation
Pn123 2
Coefficient
Friction Compensation
Pn124
2
Frequency Correction
Friction Compensation Gain
Pn125 2
Correction
Pn131 2 Gain Switching Time 1
Pn132 2 Gain Switching Time 2
Gain Switching Waiting Time
Pn135
2
1
Gain Switching Waiting Time
Pn136 2
2
Automatic Gain Changeover
2
Related Switch 1
4th 3rd 2nd 1st
digit digit digit digit
n.    
Pn139
Pn13D 2 Current Gain Level
10-8
Setting
Name
Range
0 to 800
0 to 10000
0 to 30000
0 to 10000
0 to 50000
10 to 1000
10 to 1000
0 to 100
-10000 to
10000
1 to 1000
0 to 65535
0 to 65535
0 to 65535
0 to 65535
0000 to 0052
Gain Switching Selection Switch
0
Manual gain switching
Changes gain manually using G-SEL of OPTION field.
1 Reserved (Do not set.)
2 Automatic gain switching pattern 1
Changes automatically 1st gain to 2nd gain when the switching condition A is satisfied.
Changes automatically 2nd gain to 1st gain when the switching condition A is not satisfied.
Gain Switching Condition A
0 Positioning completion signal (/COIN) ON
1
Positioning completion signal (/COIN) OFF
2 Positioning near signal (/NEAR) ON
3 Positioning near signal (/NEAR) OFF
4 Position reference filter output = 0 and position reference input OFF
5 Position reference input ON
Reserved (Do not change.)
Reserved (Do not change.)
100 to 2000
Factory When
Units
Setting Enabled
1% 200 Immediately
-1
0 Immediately
1 min
-1
0 Immediately
1 min / s
1
reference 0 Immediately
unit
0.1 ms 0 Immediately
1% 100 Immediately
1% 100 Immediately
1% 0 Immediately
0.1 Hz 0 Immediately
1% 100 Immediately
1 ms 0 Immediately
1 ms 0 Immediately
1 ms 0 Immediately
1 ms 0 Immediately
−
0000 Immediately
1% 2000 Immediately
(cont'd)
Reference
Classification
Section
Tuning
Tuning
5.9.2
Tuning
Tuning
Tuning 5.9.4
Tuning
Tuning
Tuning
5.8.2
Tuning
Tuning
Tuning
Tuning
Tuning
5.8.1
Tuning
Tuning
Tuning 5.8.4