YASKAWA E-V Series User Manual page 334

10 Appendix
10.2.2 Parameters
Parameter
No.
Application Function for Gain Select
Switch
4th
digit
n.
Pn10B
Pn10C Mode Switch (force reference)
Pn10F Mode Switch (position error pulse)
Pn11F
Position Integral Time Constant
Pn121
Friction Compensation Gain
Pn122
2nd Gain for Friction Compensation
Pn123 Friction Compensation Coefficient
Friction Compensation Frequency
Pn124
Correction
Friction Compensation Gain Correc-
Pn125
tion
Pn131
Gain Switching Time 1
Pn132
Gain Switching Time 2
Pn135 Gain Switching Waiting Time 1
Pn136 Gain Switching Waiting Time 2
10-14
Name
0000 to 5334
3rd 2nd
1st
digit digit
digit
Mode Switch Selection
0
Uses internal force reference as the condition (Level setting: Pn10C)
1
Uses speed reference as the condition (Level setting: Pn181)
2
Uses acceleration as the condition (Level setting: Pn182)
3
Uses position error pulse as the condition (Level setting: Pn10F)
4
No mode switch function available
Speed Loop Control Method
0
PI control
1
I-P control
2 and 3
Reserved (Do not change.)
Reserved (Do not change.)
Reserved (Do not change.)
Setting Factory
Units
Range Setting
−
0000
0 to 800 1% 200
1 refer-
0 to 10000 0
ence unit
0 to 50000 0.1 ms 0
10 to 1000 1% 100
10 to 1000 1% 100
0 to 100 1% 0
-1000 to
0.1 Hz 0
10000
1 to 1000 1% 100
0 to 65535 1 ms 0
0 to 65535 1 ms 0
0 to 65535 1 ms 0
0 to 65535 1 ms 0
When
Classification
Enabled
−
Setup
(Refer to 6.8.5)
(Refer to 6.8.5.)
Enabled
Immediately
(Refer to 6.8.4)
(Refer to 6.8.4.)
Enabled
After restart
Immediately Tuning
Immediately Tuning
Immediately Tuning
Immediately Tuning
Immediately Tuning
Immediately Tuning
Immediately Tuning
Immediately Tuning
Immediately Tuning
Immediately Tuning
Immediately Tuning
Immediately Tuning
Reference
Section
−
When
When
6.8.5
6.8.8
6.8.9
6.8.6