YASKAWA SGDV User Manual page 293

Parameter
Size
No.
Application Function for
2
Gain Select Switch
4th 3rd 2nd 1st
digit digit digit digit
n.
Pn10B
Mode Switch (torque refer-
Pn10C 2
ence)
Mode Switch (speed refer-
Pn10D 2
ence)
Pn10E 2 Mode Switch (acceleration)
Pn10F 2 Mode Switch (position error)
Position Integral Time Con-
Pn11F
2
stant
Pn121
2 Friction Compensation Gain
2nd Gain for Friction Com-
Pn122
2
pensation
Friction Compensation
Pn123
2
Coefficient
Friction Compensation Fre-
Pn124 2
quency Correction
Friction Compensation Gain
Pn125 2
Correction
Pn131 2 Gain Switching Time 1
Pn132 2 Gain Switching Time 2
Gain Switching
Pn135 2
Waiting Time 1
Gain Switching
Pn136 2
Waiting Time 2
Setting
Name
Range
0000 to 5334
Mode Switch Selection
0 Uses internal torque reference as the condition
(Level setting: Pn10C).
1 Uses speed reference as the condition (Level set-
ting: Pn10D).
2 Uses acceleration as the condition (Level setting:
Pn10E).
3 Uses position error as the condition (Level setting:
Pn10F).
4 No mode switch function available.
Speed Loop Control Method
0 PI control
1 I-P control
2 to 3 Reserved (Do not change.)
Reserved (Do not change.)
Reserved (Do not change.)
0 to 800
0 to 10000
0 to 30000
0 to 10000
0 to 50000
10 to 1000
10 to 1000
0 to 100
-10000 to
10000
1 to 1000
0 to 65535
0 to 65535
0 to 65535
0 to 65535
Factory When
Units
Setting Enabled
− −
0000
Immediately
After restart
1% 200 Immediately
-1
0 Immediately
1 min
-1
1 min /
0 Immediately
s
1
refer- 0 Immediately
ence unit
0.1 ms 0 Immediately
1% 100 Immediately
1% 100 Immediately
1% 0 Immediately
0.1 Hz 0 Immediately
1% 100 Immediately
1 ms 0 Immediately
1 ms 0 Immediately
1 ms 0 Immediately
1 ms 0 Immediately
10.2 List of Parameters
(cont'd)
Reference
Classification
Section
− −
When
Reference
Classification
Section
Enabled
6.9.4
Setup
When
Reference
Classification
Enabled Section
−
Setup
Tuning 6.9.4
Tuning 6.9.4
Tuning 6.9.4
Tuning 6.9.4
Tuning 6.9.6
Tuning 6.8.2
Tuning 6.8.2
Tuning 6.8.2
Tuning 6.8.2
Tuning 6.8.2
Tuning 6.8.1
Tuning 6.8.1
Tuning 6.8.1
Tuning 6.8.1
10
10-11