YASKAWA Sigma-7 Series Product Manual page 155

7.2 List of Servo Parameters
Parameter
No.
Pn10B
Pn10C
Pn10D
Pn10E
Pn10F
Pn11F
Pn121
Pn122
Pn123
Pn124
Pn125
Pn131
Pn132
Pn135
Pn136
7-12
Name
Gain Application Selec-
2
tions
Mode Switching Selection
Use the internal torque reference as the condition
0
(level setting: Pn10C).
Use the speed reference as the condition (level set-
ting: Pn10D).
1
Use the speed reference as the condition (level set-
ting: Pn181).

n. X
Use the acceleration reference as the condition (level
setting: Pn10E).
2
Use the acceleration reference as the condition (level
setting: Pn182).
Use the position deviation as the condition (level set-
3
ting: Pn10F).
4 Do not use mode switching.
Speed Loop Control Method
0 PI control
 
n. X
1 I-P control
2 and 3 Reserved settings (Do not use.)
 
n. X Reserved parameter (Do not change.)

n.X Reserved parameter (Do not change.)
Mode Switching Level
2
for Torque Reference
Mode Switching Level
2
for Speed Reference
Mode Switching Level
2
for Acceleration
Mode Switching Level
2
for Position Deviation
Position Integral Time
2
Constant
Friction Compensation
2
Gain
Second Friction Com-
2
pensation Gain
Friction Compensation
2
Coefficient
Friction Compensation
2
Frequency Correction
Friction Compensation
2
Gain Correction
2 Gain Switching Time 1
2 Gain Switching Time 2
Gain Switching Waiting
2
Time 1
Gain Switching Waiting
2
Time 2
Setting Setting Default
Range Unit Setting
0000h
to
– 0000
5334 h
0 to 800 1% 200
-1
0 to 10,000 0
1 min
0 to 30,000 -1 0
1 min /s
1 refer-
0 to 10,000 ence 0
unit
0 to 50,000 0.1 ms 0
10 to 1,000 1% 100
10 to 1,000 1% 100
0 to 100 1% 0
-10,000 to
0.1 Hz 0
10,000
1 to 1,000 1% 100
0 to 65,535 1 ms 0
0 to 65,535 1 ms 0
0 to 65,535 1 ms 0
0 to 65,535 1 ms 0
Continued from previous page.
Applicable When
Motors Enabled fication
All –
h
When
Enabled
Immedi-
ately
When
Enabled
After
restart
Immedi-
All
ately
Immedi-
Rotary
ately
Immedi-
Rotary
ately
Immedi-
All
ately
Immedi-
All
ately
Immedi-
All
ately
Immedi-
All
ately
Immedi-
All
ately
Immedi-
All
ately
Immedi-
All
ately
Immedi-
All
ately
Immedi-
All
ately
Immedi-
All
ately
Immedi-
All
ately
Continued on next page.
Classi- Refer-
ence
Setup –
Reference
*1
Reference
*1
*1
Tuning
*1
Tuning
Tuning *1
*1
Tuning
*1
Tuning
*1
Tuning
*1
Tuning
*1
Tuning
*1
Tuning
Tuning *1
Tuning *1
Tuning *1
Tuning *1
Tuning *1