YASKAWA UAK series User Manual page 312

12 Appendix
Parameter
No. Size
(Index No.)
Pn141
Model Following
2
(206Ah:2) Control Gain
Model Following
Pn142
2 Control Gain
(206Ah:3)
Compensation
Model Following
Pn143
2 Control Bias
(206Ah:4)
(Forward Direction)
Model Following
Pn144
2 Control Bias
(206Ah:5)
(Reverse Direction)
Model Following
Pn147
Control Speed
2
Feedforward
(206Ah:8)
Compensation
Predictive Control
2
Function Select Switch
n.
Pn150
(208Ah:1)
Predictive Control
Pn151
2 Acceleration/Decelera-
(208Ah:2)
tion Gain
Pn152
Predictive Control Ratio
2
(208Ah:3) of Weight
Pn153
Predictive Control
2
(208Ah:4) Equivalent Kp Ratio
12-12
Setting
Name
Range
10 to 20000
500 to 2000
0 to 10000
0 to 10000
0 to 10000
0000 to 0014
4th 3rd 2nd 1st
digit digit digit digit
Response Time Constant for Predictive Control Model
0
1
2
3
4
Predictive Control
0
1
Reserved (Do not change.)
Reserved (Do not change.)
0 to 300
0 to 300
10 to 300
Factory
Units
Setting
0.1/s 500
0.1% 1000
0.1% 1000
0.1% 1000
0.1% 1000
– 0012 After restart
Reserved (Do not change.)
Reserved (Do not change.)
Tp = 0.001
Tp = 0.002
Reserved (Do not change.)
Reserved (Do not change.)
Kp linkage predictive parameter setting
1% 100
1% 100
1% 100
When
Classification
Enabled
Immedi-
Tuning
ately
Immedi-
Tuning
ately
Immedi-
Tuning
ately
Immedi-
Tuning
ately
Immedi-
Tuning
ately
Setup
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