YASKAWA Sigma Mini SGMM Series User Manual page 268

LIST OF PARAMETERS
Speed/Torque
Category Parameter
No.
− Cn-00
Cn-01
Cn-02
Gain Cn-03
Related e ated
C Constants
Cn-04
Cn-05
Cn-1A
C
Torque Cn-13
Related e ated
C Constants
Cn-08
Cn-09
Cn-14
Cn-17
Cn-18
Sequence Cn-07
Related e ated
Constants C
Cn-23
Cn-0B
Cn-0F
Cn-12
Cn-15
Cn-16
Cn-22
Pulse
Cn-0A
R l Related d
Cn-11
Constants
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For Speed/Torque Control
List of Parameters (Parameter Setting)
Code Name
Not a parameter. (Cn-00 is used to select special mode for digital operator.)
Memory switch (see page C-4)
Memory switch (see page C-4)
VREFGN Speed reference
adjustment gain
LOOPHZ Speed loop gain
PITIME Speed loop
integration time
constant
POSGN Position loop
gain
TCRFGN Torque reference
gain
TLMTF Forward rotation
torque limit
TLMTR Reverse rotation
torque limit
TCRLMT Speed limit for
torque control
TRQFIL Torque reference
filter time
constant
CLMI Forward/reverse
external torque
limit
SFSACC Soft start time
(acceleration)
SFSDEC Soft start time
(deceleration)
TGONLV Zero-speed level
ZCLVL Zero-clamp level
BRKTIM Base block wait
time
BRKSPD Brake wait speed min
BRKWAI Brake wait time
VCMPLV Speed
coincidence
signal output
range
PGRAT PG dividing ratio
PULSNO Number of
encoder pulses
— C-2 —
Unit Lower Upper
Limit Limit
−1
(min )/V 0 2162
Hz 1 2000
ms 2 10000
1/s 1 500
(0.1 V/ 10 100
100%)
% 0 Maximum
torque
% 0 Maximum
torque
−1
min 0 Maximum
speed
0.1 ms 0 250
% 0 Maximum
torque
ms 0 10000
ms 0 10000
−1
min 1
−1
min 0 16383
10 ms 0 50
−1
0 Maximum
speed
10 ms 10 100
−1
min 0 100
P/R 16 32768
P/R 513 32768
Factory Remarks
Setting
See note 1
See note 1
500
80 See note 2
20 See note 2
40 See note 2
and 3
30
Maximum
torque
Maximum
torque
Maximum
speed
4
100
0 See note 4
0 See note 4
20
10
0
100
50
10
2048 See note 1
2048 See note 1