YASKAWA JUSP-MD D01A Series User Manual page 234

6 Adjustments
6.6.1 Switching Gain Settings
Pn105
Pn106
Pn412
Pn148
Pn149
Pn122
(5) Parameters for Automatic Gain Switching
Pn131
Pn132
Pn135
Pn136
(6) Related Monitor
Monitor No. (Un)
Un014
Note: When using the tuning-less function, gain setting 1 is enabled.
Parameter No.
Pn006
Pn007
6-40
2nd Speed Loop Integral Time Constant
Setting Range
15 to 51200
2nd Position Loop Gain
Setting Range
10 to 20000
1st Step 2nd Torque Reference Filter Time
Constant
Setting Range
0 to 65535
2nd Model Following Control Gain
Setting Range
10 to 20000
2nd Model Following Control Gain Compensation
Setting Range
500 to 2000
2nd Gain for Friction Compensation
Setting Range
10 to 1000
Gain Switching Time 1
Setting Range
0 to 65535
Gain Switching Time 2
Setting Range
0 to 65535
Gain Switching Waiting Time 1
Setting Range
0 to 65535
Gain Switching Waiting Time 2
Setting Range
0 to 65535
Name
Effective gain monitor
Analog Moni-
tor
Effective gain moni-
n.0B
tor
Setting Unit Factory Setting
0.01 ms 2000
Setting Unit Factory Setting
0.1/s
Speed
Setting Unit Factory Setting
0.01 ms
Setting Unit Factory Setting
0.1/s
Setting Unit Factory Setting
0.1% 1000
Setting Unit Factory Setting
1%
Setting Unit Factory Setting
1 ms
Setting Unit Factory Setting
1 ms
Setting Unit Factory Setting
1 ms
Setting Unit Factory Setting
1 ms
Value
1 For gain setting 1
2 For gain setting 2
Name Output Value
1 V
2 V
Position
Speed
When Enabled
Immediately
Position
When Enabled
400 Immediately
Position Torque
When Enabled
100 Immediately
Position
When Enabled
500 Immediately
Position
When Enabled
Immediately
Speed Position
When Enabled
100 Immediately
Position
When Enabled
0 Immediately
Position
When Enabled
0 Immediately
Position
When Enabled
0 Immediately
Position
When Enabled
0 Immediately
Remarks
Remarks
Gain setting 1 is enabled.
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