YASKAWA JUSP-MD D01A Series User Manual page 337

10 Appendix
10.2.2 Parameters
Parameter
Size
No.
Automatic Gain Changeover
2
Related Switch 1
4th 3rd 2nd 1st
digit digit digit digit
n.    
Pn139
Pn13D 2 Current Gain Level
Model Following Control
2
Related Switch
4th 3rd 2nd 1st
digit digit digit digit
n.    
Pn140
Pn141 2 Model Following Control Gain
Model Following Control Gain
Pn142 2
Compensation
Model Following Control Bias
Pn143 2
(Forward Direction)
10-18
Setting
Name
Range
0000 to 0052
Gain Switching Selection Switch
0 Manual gain switching
Changes gain manually using external input signal (/G-SEL) .
1
Reserved (Do not use.)
2 Automatic gain switching pattern 1
Changes automatically 1st gain to 2nd gain when the switching condition A is satisfied.
Changes automatically 2nd gain to 1st gain when the switching condition A is not satisfied.
Gain Switching Condition A
0 Positioning completion signal (/COIN) ON
1 Positioning completion signal (/COIN) OFF
2
Positioning near signal (/NEAR) ON
3 Positioning near signal (/NEAR) OFF
4 Position reference filter output = 0 and reference pulse input OFF
5 Position reference pulse input ON
Reserved (Do not change.)
Reserved (Do not change.)
100 to 2000
0000 to 1121
Model Following Control Selection
0 Does not use model following control.
1 Uses model following control.
Vibration Suppression Selection
0 Does not perform vibration suppression.
1 Performs vibration suppression over the specified frequency.
2 Performs vibration suppression over two different kinds of frequencies.
Vibration Suppression Adjustment Selection
0 Does not adjust vibration suppression automatically using utility function.
1 Adjusts vibration suppression automatically using utility function.
Selection of Speed Feedforward (VFF) / Torque Feedforward (TFF)
0 Does not use model following control and speed/torque feedforward together.
1 Uses model following control and speed/torque feedforward together.
10 to 20000
500 to 2000
0 to 10000
Factory
Units When Enabled
Setting
−
0000 Immediately
1% 2000 Immediately
− 0100 Immediately
0.1/s 500 Immediately
0.1% 1000 Immediately
0.1% 1000 Immediately
(cont'd)
Classifi- Reference
cation Section
Tuning 6.6.1
Tuning 6.6.4
Tuning −
Reference
Section
6.2.1, 6.4.1,
6.3.1, 6.5.1
Reference
Section
6.2.1, 6.4.1
−
Tuning
−
Tuning
−
Tuning