YASKAWA MP2000 Series User Manual page 107

5.4 MP2000 Series Machine Controller Parameter Details
5.4.2 Motion Setting Parameter Details
( 22 ) Latch
OL2A
Latch Zone Lower Limit Setting
Set the range in which the latch signal is valid (position from the zero position) for external positioning.
Description
OL2C
Latch Zone Upper Limit Setting
Same as for OL2A.
Description
( 23 ) Gain and Bias Settings
OW2E
Position Loop Gain
Determine the responsiveness for the SERVOPACK's position loop.
If the position loop gain is set high, the responsiveness is high and the positioning time is short. Set the optimum value for
Description
the machine rigidity, inertia, and type of Servomotor.
OW30
Speed Feedforward Amends
Reduces positioning time by applying feed forward compensation.
Description
This setting is effective for positioning control commands. Always set this parameter to 0 for phase control.
OW31
Speed Compensation
Set the speed feed forward gain as a percentage of the rated speed for the phase reference (PHASE) com-
mands.
The setting unit for this parameter is 0.01% (fixed).
Description
 Secondly Speed Compensation (OL16) can be used with the phase reference command (PHASE), and
OW32
Position Integration Time Constant
Set the position loop integration time constant.
Use this parameter to improve the following precision in applications such as electronic cams or shafts.
Description
Setting this parameter to 0 clears the integral elements in the position control loop during position control and phase con-
trol.
OW33
1st-order Lag Time Constant
Set the primary lag time constant (1 = 1ms) for position loop.
When this parameter is set to 0, the primary lag calculation will not be performed.
This parameter is used in position control mode or zero point return mode.
Description
5-36
the unit can be selected for OL16. When used at the same time as OL16, speed compensation can
be applied twice.
 Setting the primary lag time constant may cause vibration. Set this parameter to 0 unless it is abso-
lutely necessary.
Setting Range
Position
Phase
31 31
−2 −1
to 2
Speed Torque
Setting Range
Position
Phase
31 31
−2 −1
to 2
Speed Torque
Setting Range
Position Phase
0 to 32767
Speed
Torque
Setting Range
Phase
Position
0 to 32767
Speed
Torque
Setting Range
Position Phase
−32768 to 32767
Speed
Torque
Setting Range
Phase
Position
0 to 32767
Speed
Torque
Setting Range
Phase
Position
0 to 32767
Speed
Torque
Setting Unit Default Value
31
Reference unit
−2
Setting Unit Default Value
31
Reference unit
−1
2
Setting Unit Default Value
0.1/s 300
Setting Unit Default Value
0.01% 0
Setting Unit Default Value
0.01% 0
Setting Unit Default Value
ms 0
Setting Unit Default Value
ms 0