YASKAWA UAK series User Manual page 311

Parameter
No. Size Name
(Index No.)
Pn121
Friction Compensation
2
Gain
(2067h:1)
Pn123
Friction Compensation
2
Coefficient
(2067h:3)
Pn124
Friction Compensation
2
(2067h:4) Frequency Correction
Pn125
Friction Compensation
2
(2067h:5) Gain Correction
Pn12B
2 3rd Speed Loop Gain
(2042:1)
Pn12C
3rd Speed Loop Integral
2
Time Constant
(2042h:2)
Pn12D
2 3rd Position Loop Gain
(2042h:3)
Pn12E
2 4rd Speed Loop Gain
(2043h:1)
Pn12F
4rd Speed Loop Integral
2
Time Constant
(2043h:2)
Pn130
2 4rd Position Loop Gain
(2043h:3)
Model Following
2
Control Related Switch
4th 3rd 2nd 1st
digit digit digit digit
n.
Pn140
(206Ah:1)
Setting Factory
Units
Range Setting
10 to 1000 1% 100
0 to 100 1%
-10000 to
0.1 Hz
10000
1 to 1000 1% 100
10 to 20000 0.1 Hz 400
0.01
15 to 51200 2000
ms
10 to 20000 0.1/s 400
10 to 20000 0.1 Hz 400
0.01
15 to 51200 2000
ms
10 to 20000 0.1/s 400
−
0000 to 1121 0100
Reserved (Do not change.)
Reserved (Do not change.)
Reserved (Do not change.)
Selection of Speed Feedforward (VFF) / Torque Feedforward (TFF)
0 Does not use model following control and speed/torque feedforward together.
1 Uses model following control and speed/torque feedforward together.
12.1 SERVOPACK Parameters
When
Classification
Enabled
Immedi-
Tuning
ately
Immedi-
0 Tuning
ately
Immedi-
0 Tuning
ately
Immedi-
Tuning
ately
Immedi-
Tuning
ately
Immedi-
Tuning
ately
Immedi-
Tuning
ately
Immedi-
Tuning
ately
Immedi-
Tuning
ately
Immedi-
Tuning
ately
Immedi-
Tuning
ately
(cont'd)
Motor Reference
Type Section
spindle
motor,
–
servo-
motor
spindle
motor,
–
servo-
motor
spindle
motor,
–
servo-
motor
spindle
motor,
–
servo-
motor
spindle
motor,
–
servo-
motor
spindle
motor,
–
servo-
motor
spindle
motor,
–
servo-
motor
spindle
motor,
–
servo-
motor
spindle
motor,
–
servo-
motor
spindle
motor,
–
servo-
motor
spindle
motor,
−
servo-
motor
1 2
12-11