YASKAWA E-V-MD Series User Manual page 212

(4) Related Parameters
Speed Loop Gain
PnAC2
Factory Setting
10 to 20000
Speed Loop Integral Time Constant
PnAC4
Factory Setting
15 to 51200
Position Loop Gain
PnAC6
Factory Setting
10 to 20000
Torque Reference Filter Time Constant
Pn401
Factory Setting
0 to 65535
Model Following Control Gain
Pn141
Factory Setting
10 to 20000
Model Following Control Gain Compensation
Pn142
Factory Setting
500 to 2000
Friction Compensation Gain
Pn121
Factory Setting
10 to 1000
2nd Speed Loop Gain
Pn104
Factory Setting
10 to 20000
2nd Speed Loop Integral Time Constant
Pn105
Factory Setting
15 to 51200
2nd Position Loop Gain
Pn106
Factory Setting
10 to 20000
1st Step 2nd Torque Reference Filter Time Constant
Pn412
Factory Setting
0 to 65535
2nd Model Following Control Gain
Pn148
Factory Setting
10 to 20000
2nd Model Following Control Gain Compensation
Pn149
Factory Setting
500 to 2000
2nd Gain for Friction Compensation
Pn122
Factory Setting
10 to 1000
Speed
Factory Setting Factory Setting
0.1 Hz 400
Speed
Factory Setting Factory Setting
0.01 ms 2000
Factory Setting Factory Setting
0.1/s 400
Speed
Factory Setting Factory Setting
0.01 ms 100
Factory Setting Factory Setting
0.1/s 500
Factory Setting Factory Setting
0.1% 1000
Speed
Factory Setting Factory Setting
1% 100
Speed
Factory Setting Factory Setting
0.1 Hz 400
Speed
Factory Setting Factory Setting
0.01 ms 2000
Factory Setting Factory Setting
0.1/s 400
Factory Setting Factory Setting
0.01 ms 100
Factory Setting Factory Setting
0.1/s 500
Factory Setting Factory Setting
0.1% 1000
Speed
Factory Setting Factory Setting
1% 100
8.8 Additional Adjustment Function
Position
When Enabled
Immediately
Position
When Enabled
Immediately
Position
When Enabled
Immediately
Position Torque
When Enabled
Immediately
Position
When Enabled
Immediately
Position
When Enabled
Immediately
Position
When Enabled
Immediately
Position
When Enabled
Immediately
Position
When Enabled
Immediately
Position
When Enabled
Immediately
Speed Position Torque
When Enabled
Immediately
Position
When Enabled
Immediately
Position
When Enabled
Immediately
Position Compensation
When Enabled
Immediately
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
8
Tuning
Classification
Tuning
8-79