YASKAWA E-V Series User Manual page 243

6 Adjustments
6.8.6 Switching Gain Settings
(4) Related Parameters
Parameter
Pn139
Note: n.
2nd Speed Loop Gain
Pn104
2nd Speed Loop Integral Time Constant
Pn105
2nd Position Loop Gain
Pn106
2nd Model Following Control Gain
Pn148
2nd Model Following Control Gain Compensation
Pn149
2nd Force Reference Filter Time Constant
Pn412
2nd Gain for Friction Compensation
Pn122
6-62
n. 0 Manual gain switching [Factory setting]
n. 2 Automatic gain switching pattern 1
1 is reserved. Do not set.
Setting Range Setting Unit
10 to 20000
Setting Range Setting Unit
15 to 51200
Setting Range Setting Unit
10 to 20000
Setting Range Setting Unit
10 to 20000
Setting Range Setting Unit
500 to 2000
Setting Range Setting Unit
0 to 65535
Setting Range Setting Unit
10 to 1000
Function
Factory Setting
0.1 Hz 400
Factory Setting
0.01 ms 2000
Factory Setting
0.1/s 400
Factory Setting
0.1/s 500
Factory Setting
0.1 % 1000
Speed
Factory Setting
0.01 ms 100
Factory Setting
1 % 100
When Enabled
Immediately
Speed Position
When Enabled
Immediately
Position
Speed
When Enabled
Immediately
Position
When Enabled
Immediately
Position
Speed
When Enabled
Immediately
Position
Speed
When Enabled
Immediately
Force
Position
When Enabled
Immediately
Position
Speed
When Enabled
Immediately
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning