YASKAWA Sigma-V Series User Manual page 272

2nd Speed Loop Integral Time Constant
Pn105
Setting Range
15 to 51200
2nd Position Loop Gain
Pn106
Setting Range
10 to 20000
1st Step 2nd Torque Reference Filter Time
Constant
Pn412
Setting Range
0 to 65535
2nd Model Following Control Gain
Pn148
Setting Range
10 to 20000
2nd Model Following Control Gain Compensation
Pn149
Setting Range
500 to 2000
2nd Gain for Friction Compensation
Pn122
Setting Range
10 to 1000
(5) Parameters for Automatic Gain Switching
Gain Switching Time 1
Pn131
Setting Range
0 to 65535
Gain Switching Time 2
Pn132
Setting Range
0 to 65535
Gain Switching Waiting Time 1
Pn135
Setting Range
0 to 65535
Gain Switching Waiting Time 2
Pn136
Setting Range
0 to 65535
(6) Related Monitor
Monitor No. (Un)
Un014 Effective gain monitor
Note: When using the tuning-less function, gain setting 1 is enabled.
Analog Moni-
Parameter No.
Pn006
n.
Pn007
Setting Unit
0.01 ms
Setting Unit
0.1/s
Setting Unit
0.01 ms
Setting Unit
0.1/s
Setting Unit
0.1%
Setting Unit
1%
Setting Unit
1 ms
Setting Unit
1 ms
Setting Unit
1 ms
Setting Unit
1 ms
Name Value
1
2
Name
tor
Effective gain moni-
0B
tor
6.8 Additional Adjustment Function
Speed Position
Factory Setting When Enabled
2000 Immediately
Position
Factory Setting When Enabled
400 Immediately
Speed Position Torque
Factory Setting When Enabled
100 Immediately
Position
Factory Setting When Enabled
500 Immediately
Position
Factory Setting When Enabled
1000 Immediately
Position
Speed
Factory Setting When Enabled
100 Immediately
Position
Factory Setting When Enabled
0 Immediately
Position
Factory Setting When Enabled
0 Immediately
Position
Factory Setting When Enabled
0 Immediately
Position
Factory Setting When Enabled
0 Immediately
Remarks
For gain setting 1
For gain setting 2
Output Value
1 V Gain setting 1 is enabled.
2 V Gain setting 2 is enabled.
(cont'd)
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
Remarks
6-61
6