YASKAWA SGD7S-R70A20A023F40B Product Manual page 280

Parameter
Name
No.
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
2 and 3 Reserved settings (Do not use.)
 
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
Gain Switching Waiting
Pn136 2
Time 2
Setting Setting
Range Unit
0 to 100 1%
0 to 6,400 0.01 ms
0000h to
–
5334h
Use the internal torque reference as the condition (level setting:
0
Pn10C).
Use the speed reference as the condition (level setting: Pn10D).
1
Use the speed reference as the condition (level setting: Pn181).
Use the acceleration reference as the condition (level setting:
Pn10E).
2
Use the acceleration reference as the condition (level setting:
Pn182).
3 Use the position deviation as the condition (level setting: Pn10F).
4 Do not use mode switching.
0 PI control
1 I-P control
0 to 800 1%
0 to 10,000
1 min
0 to 30,000 -1
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
0 to 65,535 1 ms
6.3.1 List of Servo Parameters
Continued from previous page.
Default Applicable When
Setting Motors Enabled
Immedi-
0 All
ately
Immedi-
0 All
ately
0000h All
Immedi-
200 All
ately
Immedi-
-1
0 Rotary
ately
Immedi-
0 Rotary
/s
ately
Immedi-
0 All
ately
Immedi-
0 All
ately
Immedi-
100 All
ately
Immedi-
100 All
ately
Immedi-
0 All
ately
Immedi-
0 All
ately
Immedi-
100 All
ately
Immedi-
0 All
ately
Immedi-
0 All
ately
Immedi-
0 All
ately
Immedi-
0 All
ately
Continued on next page.
6.3 FT41 Specification
Classi- Refer-
fication ence
*1
Tuning
*1
Tuning
*1
– Setup
When
Enabled
Immedi-
ately
When
Enabled
After
restart
*1
Tuning
*1
Tuning
*1
Tuning
*1
Tuning
*1
Tuning
*1
Tuning
*1
Tuning
*1
Tuning
*1
Tuning
*1
Tuning
*1
Tuning
*1
Tuning
*1
Tuning
*1
Tuning
6-79
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