Position Integral - YASKAWA SGDV User Manual

2nd Notch Filter Depth
Pn40E
Setting Range

6.9.6 Position Integral

The position integral is the integral function of the position loop. It is used for the electronic cams and elec-
tronic shafts when using the SERVOPACK with YASKAWA MP900/2000 Machine Controllers.
Position Integral Time Constant
Pn11F
Setting Range
0 to 50000
Setting Unit
0 to 1000 0.001
• Sufficient precautions must be taken when setting the notch filter frequencies. Do not
set the notch filter frequencies (Pn409 or Pn40C) that is close to the speed loop's
response frequency. Set the frequencies at least four times higher than the speed
loop's response frequency. Setting the notch filter frequency too close to the response
frequency may cause vibration and damage the machine.
• Change the notch filter frequencies (Pn409 or Pn40C) only when the servomotor is
stopped. Vibration may occur if the notch filter frequency is changed when the servo-
motor is rotating.
Setting Unit
0.1 ms
6.9 Compatible Adjustment Function
Speed Position Torque
Factory Setting When Enabled
0 Immediately
Position
Factory Setting When Enabled
0 Immediately
(cont'd)
Classification
Tuning
Classification
Tuning
6
6-67