YASKAWA Σ-V Series User Manual page 286

9 Appendix
9.1.2 Parameters
Parameter
No.
Pn100 Speed Loop Gain
Pn101 Speed Loop Integral Time Constant
Pn102 Position Loop Gain
Pn103 Mass Ratio
Pn104 2nd Speed Loop Gain
2nd Speed Loop Integral Time Con-
Pn105
stant
Pn106 2nd Position Loop Gain
Pn109 Feedforward Gain
Pn10A Feedforward Filter Time Constant
Application Function for Gain Select
Switch
4th
digit
n.
Pn10B
Pn10C Mode Switch (force reference)
Pn10F
Mode Switch (position error pulse)
Pn11F Position Integral Time Constant
Pn121 Friction Compensation Gain
Pn122 2nd Gain for Friction Compensation
Pn123
Friction Compensation Coefficient
Friction Compensation Frequency
Pn124
Correction
Friction Compensation Gain Correc-
Pn125
tion
Pn131 Gain Switching Time 1
Pn132
Gain Switching Time 2
Pn135
Gain Switching Waiting Time 1
Pn136
Gain Switching Waiting Time 2
9-8
Name
10 to 20000
15 to 51200
10 to 20000
10 to 20000
15 to 51200
10 to 20000
0000 to 5334
3rd 2nd
1st
digit digit
digit
Mode Switch Selection
0 Uses internal force reference as the condition (Level setting: Pn10C).
1 Uses speed reference as the condition (Level setting: Pn181).
2
Uses acceleration as the condition (Level setting: Pn182).
3 Uses position error pulse as the condition (Level setting: Pn10F).
4 No mode switch function available.
Speed Loop Control Method
0
PI control
1 I-P control
2 and 3 Reserved (Do not change.)
Reserved (Do not change.)
Reserved (Do not change.)
Setting Factory
Units
Range Setting
0.1 Hz 400
0.01 ms 2000
0.1/s 400
0 to 20000 1% 100
0.1 Hz 400
0.01 ms 2000
0.1/s 400
0 to 100 1% 0
0 to 6400 0.01 ms 0
− 0000
0 to 800 1% 200
1 refer-
0 to 10000 0
ence unit
0 to 50000 0.1 ms 0
10 to 1000 1% 100
10 to 1000 1% 100
0 to 100 1% 0
-10000 to
0.1 Hz 0
10000
1 to 1000 1% 100
0 to 65535 1 ms 0
0 to 65535 1 ms 0
0 to 65535 1 ms 0
0 to 65535 1 ms 0
When
Classification
Enabled
Immediately Tuning
Immediately Tuning
Immediately Tuning
Immediately Tuning
Immediately Tuning
Immediately Tuning
Immediately Tuning
Immediately Tuning
Immediately Tuning
− −
When
(Refer to 5.9.2)
Enabled
Immediately
When
Enabled
After restart
Immediately Tuning
Immediately Tuning
Immediately Tuning
Immediately Tuning
Immediately Tuning
Immediately Tuning
Immediately Tuning
Immediately Tuning
Immediately Tuning
Immediately Tuning
Immediately Tuning
Immediately Tuning
Reference
Section
5.8.1
5.9.1
−
Classification
Setup
Classification
Setup
5.9.2
5.9.4
5.8.2
5.8.1