YASKAWA SGM7D-30F Product Manual page 364

Parameter
Name
No.
Second Position Loop
Pn106 2
Gain
Pn109 2 Feedforward
Feedforward Filter Time
Pn10A 2
Constant
Gain Application Selec-
2
tions
Mode Switching Selection

n. X
Pn10B
Speed Loop Control Method
 
n. X
 
n. X Reserved parameter (Do not change.)

n.X Reserved parameter (Do not change.)
Mode Switching Level
Pn10C 2
for Torque Reference
Mode Switching Level
Pn10D 2
for Speed Reference
Mode Switching Level
Pn10E 2
for Acceleration
Mode Switching Level
Pn10F 2
for Position Deviation
Position Integral Time
Pn11F 2
Constant
Friction Compensation
Pn121 2
Gain
Second Friction Com-
Pn122 2
pensation Gain
Friction Compensation
Pn123 2
Coefficient
Friction Compensation
Pn124 2
Frequency Correction
Friction Compensation
Pn125 2
Gain Correction
Pn131 2 Gain Switching Time 1
Pn132 2 Gain Switching Time 2
Gain Switching Waiting
Pn135 2
Time 1
4.2 FT82 SERVOPACK with MECHATROLINK-II Communications References
Setting Setting
Range Unit
10 to 20,000 0.1/s
0 to 100 1%
0 to 6,400 0.01 ms
0000h to
–
5334h
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).
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.
0 PI control
1 I-P control
2 to 3 Reserved settings (Do not use.)
0 to 800 1%
0 to 10,000
1 min
0 to 30,000
1 min
1 refer-
0 to 10,000 ence
unit
0 to 50,000 0.1 ms
10 to 1,000 1%
10 to 1,000 1%
0 to 100 1%
-10,000 to
0.1 Hz
10,000
1 to 1,000 1%
0 to 65,535 1 ms
0 to 65,535 1 ms
0 to 65,535 1 ms
Continued from previous page.
Default Applicable When
Setting Motors Enabled
Immedi-
400 All
Immedi-
0 All
Immedi-
0 All
0000h All
Immedi-
200 All
Immedi-
-1
0 Rotary
Immedi-
-1
0 Rotary
/s
Immedi-
0 All
Immedi-
0 All
Immedi-
100 All
Immedi-
100 All
Immedi-
0 All
Immedi-
0 All
Immedi-
100 All
Immedi-
0 All
Immedi-
0 All
Immedi-
0 All
Continued on next page.
Classi- Refer-
fication ence
Tuning *1
ately
*1
Tuning
ately
Tuning *1
ately
– Setup –
When
Reference
Enabled
Immedi-
*1
ately
When
Reference
Enabled
After
*1
restart
Tuning *1
ately
*1
Tuning
ately
*1
Tuning
ately
*1
Tuning
ately
*1
Tuning
ately
Tuning *1
ately
Tuning *1
ately
*1
Tuning
ately
*1
Tuning
ately
Tuning *1
ately
Tuning *1
ately
*1
Tuning
ately
*1
Tuning
ately
4-39
4