YASKAWA JUSP-MD D01A Series User Manual page 336

Parameter
Size
No.
Application Function for Gain
2
Select Switch
4th 3rd 2nd 1st
digit digit digit digit
n.    
Pn10B
Pn10C 2 Mode Switch (torque reference)
Pn10D 2 Mode Switch (speed reference)
Pn10E
2 Mode Switch (acceleration)
Pn10F 2 Mode Switch (position error)
Position Integral Time
Pn11F 2
Constant
Pn121 2 Friction Compensation Gain
2nd Gain for Friction
Pn122 2
Compensation
Friction Compensation
Pn123 2
Coefficient
Friction Compensation
Pn124 2
Frequency Correction
Friction Compensation Gain
Pn125 2
Correction
Pn131 2 Gain Switching Time 1
Pn132
2 Gain Switching Time 2
Pn135
2 Gain Switching Waiting Time 1
Pn136
2 Gain Switching 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
setting: 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 and 3 Reserved (Do not use.)
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
Units When Enabled
Setting
−
0000
When
Enabled
Immediately
When
Enabled
After restart
1% 200 Immediately
-1
0 Immediately
1 min
-1
0 Immediately
1 min / s
1
reference 0 Immediately
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)
Classifi- Reference
cation Section
− − −
Reference
Classification
Section
6.7.5
Setup
Reference
Classification
Section
−
Setup
Tuning 6.7.5
Tuning 6.7.5
Tuning 6.7.5
Tuning 6.7.5
Tuning 6.6.6
Tuning 6.6.2
Tuning 6.6.2
Tuning 6.6.2
Tuning 6.6.2
Tuning 6.6.2
Tuning 6.6.1
Tuning 6.6.1
Tuning 6.6.1
Tuning 6.6.1
10-17
10