YASKAWA UAK series User Manual page 313

Parameter
No. Size Name
(Index No.)
Pn154
Predictive Control Speed
2
FF Gain
(208Ah:5)
Pn155
Predictive Control
2
Torque FF Gain
(208Ah:6)
Predictive Control
Pn156
2 Torque FF Filter Time
(208Ah:7)
Constant
Pn157
Predictive Control
2
(208Ah:8) Parameter Kph(C)
Pn158
Predictive Control
2
(208Ah:9) Parameter Cd
Pn159
Predictive Control
2
Parameter α
(208Ah:10)
Predictive Control
Pn15A
2 Equivalent Kp Fine
(208Ah:11)
Adjustment Amount
Anti-Resonance Control
2
Related Switch
4th 3rd 2nd 1st
digit digit digit digit
n.
Pn160
(206Bh:1)
Pn161
Anti-Resonance
2
(206Bh:2) Frequency
Pn162 Anti-Resonance Gain
2
Compensation
(206Bh:3)
Setting Factory
Units
Range Setting
0 to 5000 0.1%
0 to 5000 0.1%
0.01
0 to 65535
ms
10 to 100 0.1 80
0 to 5000 0.1
-90 to 1000 0.01
-10000 to
0.1/s
32767
−
0000 to 0011 0010
Anti-Resonance Control Selection
0 Does not use anti-resonance control.
1 Uses anti-resonance control.
Anti-Resonance Control Adjustment Selection
0 Does not adjust anti-resonance control automatically using utility function.
1 Adjusts anti-resonance control automatically using utility function.
Reserved (Do not change.)
Reserved (Do not change.)
10 to 20000 0.1 Hz 1000
1 to 1000 1% 100
12.1 SERVOPACK Parameters
When
Classification
Enabled
Immedi-
0 Tuning
ately
Immedi-
0 Tuning
ately
Immedi-
0 Tuning
ately
Immedi-
Tuning
ately
Immedi-
0 Tuning
ately
Immedi-
0 Tuning
ately
Immedi-
0 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,
9.5
servo-
motor
spindle
motor,
−
servo-
motor
spindle
motor,
−
servo-
motor
1 2
12-13