YASKAWA E-V-MD Series User Manual page 305

11 Appendix
11.2.2 MECHATROLINK-III Common Parameters
Parameter
Size
No.
Torque Unit
0000H
47
4
PnA8E
0001H
0002H
Torque Base Unit
48
(Set the value of "n" used as the
4
PnA90
exponent in 10
the Torque Unit (47).)
61
4 Speed Loop Gain
PnAC2
62
4 Speed Loop Integral Time Constant
PnAC4
63
4 Position Loop Gain
PnAC6
64
4 Feedforward Compensation
PnAC8
65 Position Loop Integral Time Con-
4
PnACA stant
66
4 Positioning Completed Width
PnACC
67
4 NEAR Signal Width
PnACE
∗4. When 0002H is selected for the Torque Unit (parameter 47), set the Torque Base Unit (parameter 48) to 0.
∗5. Change the setting when the reference is stopped (DEN is set to 1), because the change will affect the output during
operation.
Note: When using parameters that are enabled after restarting the SERVOPACK, a CONFIG command must be input or
the power must be turned OFF and then ON again.
11-22
Name Setting Range
Not supported
Percentage (%) of rated torque
*4
Max. torque/40000000H
*4
n
when calculating
150 to 512000
0 to 5000000
Units
[Resolution]
1 and 2 –
–5 to 0 –
1000 to 0.001 Hz
2000000 [0.1 Hz]
μs
[0.01 ms]
1000 to 0.001/s
2000000 [0.1/s]
0 to 100 1%
μs
[0.1 ms]
0 to
1 reference unit
1073741824
1 to
1 reference unit
1073741824
Factory When Classifica-
Setting Enabled
After
1
restart
After
0
restart
Immedi-
40000
ately
Immedi-
20000
ately
Immedi-
40000
Adjustment
ately
Immedi-
Parameters
0
ately
Immedi-
0
ately
Immedi-
7
ately
Adjustment
Immedi-
1073741824
ately
Parameters
(cont'd)
tion
Related
Related