YASKAWA Σ-V Series User Manual page 287

Parameter
Name
No.
Automatic Gain Changeover Related
Switch 1
4th 3rd 2nd
digit digit digit
n.
Pn139
Pn13D Current Gain Level
Model Following Control Related
Switch
4th 3rd 2nd
digit digit digit
n.
Pn140
Pn141 Model Following Control Gain
Model Following Control Gain Com-
Pn142
pensation
∗1. For details on this function, refer to the manual of the connected Command Option Module.
Setting
Range
0000 to 0052
1st
digit
Gain Switching Selection Switch
Manual gain switching
0 Switches between 1st gain and 2nd gain using the gain switching reference from the Command
Option Module.
1 Reserved (Do not change.)
Automatic gain switching pattern 1
2 Changes automatically 1st gain to 2nd gain when the switching condition A is satisfied.
Changes automatically 2nd gain to 1st gain when the switching condition A is not satisfied.
Gain Switching Condition A
0 Positioning completion signal (/COIN) ON
1 Positioning completion signal (/COIN) OFF
2 NEAR signal (/NEAR) ON
3
NEAR signal (/NEAR) OFF
4 No output for position reference filter and reference pulse input OFF
5 Position reference pulse input ON
Reserved (Do not change.)
Reserved (Do not change.)
100 to 2000
0000 to 1121
1st
digit
Model Following Control Selection
0 Does not use model following control.
1 Uses model following control.
Vibration Suppression Selection
0 Does not perform vibration suppression.
1 Performs vibration suppression over the specified frequency.
2 Performs vibration suppression over two different kinds of frequencies.
Vibration Suppression Adjustment Selection
0 Does not adjust vibration suppression automatically using utility function.
1 Adjusts vibration suppression automatically using utility function.
Selection of Speed Feedforward (VFF) / Force Feedforward (TFF)
0 Does not use model following control together with speed/force feedforward together.
1 Uses model following control together with speed/force feedforward together.
10 to 20000
500 to 2000
Factory When
Units
Setting Enabled
−
0000 Immediately
*1
1% 2000 Immediately
−
0100 Immediately
(Refer to 5.3.1, 5.4.1, 5.5.1, 5.7.1)
0.1/s 500 Immediately
0.1% 1000 Immediately
9.1 List of Parameters
Reference
Classification
Section
−
Tuning
(Refer to 5.8.1)
(Refer to 5.8.1)
Tuning 5.8.4
−
Tuning
(Refer to 5.3.1, 5.4.1)
Tuning −
−
Tuning
9
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