YASKAWA S Series User Manual page 137

User Constants
Constant No.
Cn-0016
Time delay from Servo
OFF to brake ON during
motor running
Cn-0017 Torque reference filter time
constant
Cn-0018 Torque reference filter time
constant (secondary)
Cn-0019 Reserved for system
Cn-001A Position loop gain
Cn-001 B Positioning completed
width
Cn-001C Bias
Cn-001 D Feed forward compensa-
tion
Cn-001 E Position error overflow
range
Cn-001 F First-step linear accelera-
tion/deceleration constant
Cn-0020 Second-step linear accel-
eration/deceleration
constant
Cn-0021 Acceleration/deceleration
constant switching speed
Cn-0022 Zero point return approach
speed 1
Cn-0023 Zero point return approach
speed 2
Cn-0024 Electronic gear ratio B (nu-
merator)
Cn-0025 Electronic gear ratio A (de-
nominator)
Cn-0026 Running average time
Feed forward reference fil-
Cn-0027
ter
Cn-0028 Final travel distance to re-
turn to zero point
Cn-002A Origin width
Cn-002B Final travel distance with
external positioning
Cn-002D Exponential acceleration/
deceleration bias
Cn-002E Exponential acceleration/
deceleration time constant
Cn-002F
Forward software limit
Cn-0031 Reverse software limit
Cn-0033 Absolute encoder origin
offset
Name Size
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
4
2
4
2
2
4
4
4
7 -14
Units Range
10 ms 10 to 100
0 to 25000
Rs
[Ls 0 to 25000
—
—
0.01/s 1 to 50000
0 to 250
Reference units
0 to MAX
100 reference units/s
% 0 to 100
1 to 65535
Reference units
10000 reference 0 to 65535
units/s2
10000 reference 0 to 65535
units/s2
100 reference units/s 0 to 65535
0 to 65535
100 reference units/s
0 to 65535
100 reference units/s
— 1 to 32768
1 to 32768
100 p.s 0 to 5100
iis
0 to 64000
—2147483648 to
Reference units
2147483647
0 to 65535
Reference units
—2147483648 to
Reference units
2147483647
500 reference units/s 0 to 32767
100 µs 0 to 5100
—2147483648 to
Reference units
2147483647
—2147483648 to
Reference units
2147483647
—2147483648 to
Reference units
2147483647
Factory Settings
50
400
0
0000H
4000
7
0
- 0
65535
0
100
0
50
5
4
1
0
0
1000
10
100
0
0
8192 x 99999
—8192 X 99999
0