YASKAWA SGM7D-30F Product Manual page 335

4.1 FT82 SERVOPACKs with Analog Voltage/Pulse Train References
Parameter
No.
Pn106
Pn109
Pn10A
Pn10B
Pn10C
Pn10D
Pn10E
Pn10F
Pn11F
Pn121
Pn122
Pn123
Pn124
Pn125
Pn131
Pn132
Pn135
4-10
Name
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 to 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
2 Gain Switching Time 1
2 Gain Switching Time 2
Gain Switching Waiting
2
Time 1
Setting Setting Default
Range Unit Setting
10 to 20,000 0.1/s 400
0 to 100 1% 0
0 to 6,400 0.01 ms 0
0000h to
– 0000h
5334h
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
0 to 65,535 1 ms 0
0 to 65,535 1 ms 0
0 to 65,535 1 ms 0
Continued from previous page.
Applicable When Classi-
Motors Enabled fication
Immedi-
All Tuning
ately
Immedi-
All Tuning
ately
Immedi-
All Tuning
ately
All – Setup
When
Reference
Enabled
Immedi-
ately
When
Reference
Enabled
After
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
Immedi-
All Tuning
ately
Immedi-
All Tuning
ately
Immedi-
All Tuning
ately
Continued on next page.
Refer-
ence
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