YASKAWA SGM7D-30F Product Manual page 399

4.3 FT82 SERVOPACK with MECHATROLINK-III Communications References
4.3.1 List of Servo Parameters
Parameter
No.
Pn106
Pn109
Pn10A
Pn10B
4-74
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.)
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
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
Continued on next page.
Refer-
ence
*1
*1
*1
–
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*1