YASKAWA SGM Series User Manual page 121

Constant No.
Cn-0035
Speed loop compensation
constant
Cn-0036 Reserved for system
Cn-0037
Reserved for system
Cn-0038 Reserved for system
Cn-0039
Reserved for system
Cn-003A Reserved for system
Cn-003B
Reserved for system
Cn-003C Reserved for system
Cn-003D
Reserved for system
Cn-003E Reserved for system
Cn-003F Reserved for system
Note 1. Non-volatile parameters are saved in EEPROM and cannot be changed very often. It usually takes about
60 ms to overwrite with 2-byte parameter and about 120 ms to overwrite with 4-byte parameter, but response
of a command will vary somewhat depending on the status of the buffers.
2. The factory setting for load moment of inertia is an equivalent inertia of the Servomotor. Since vibrations
will occur using the factory setting with a small load moment of inertia, always set the load moment of inertia
to around 0 prior to operation.
3. Be sure to use an electronic gear ratio (Cn-0024 and 0025) within a range where 0.01
≦B(Cn-0024)/A(Cn-0025) ≦ 100.
4. To avoid possible danger, never change parameters such as motor selection, encoder selection and number
of encoder pulses while the Servomotor is driving (main circuit ON).
5. Changing parameters like the electronic gear ratio and number of encoder pulses may cause the Servomotor
to run at a maximum speed outside the specified Servomotor speed range and may occur alarm code 04 when
power is turned ON. If this happens, check the reference units one more time.
6. Be sure to convert all data to hexadecimal before writing it. Convert b15 (MSB) to b0 (LSB) to hexadecimal
in 4-bit groups (b15 to b12, b11 to b8, b7 to b4, b3 to b0) for memory switches 1 to 4. Data sent from SERVO-
PACKS is read in hexadecimal, and note that H in the table is a hexadecimal number. The values specified
in Cn-0028, 002B and 002F to 0033 have a sign and are 32-bit twos complements when a minus (−) sign
is added.
Name Size
2
2
2
2
2
2
2
2
2
2
2
7 -15
Units Upper and
Lower LImits
% 0 to 100
− −
− −
− −
− −
− −
− −
− −
− −
− −
− −
7.2 List of User Constants
Factory Setting
0
0000H
0000H
0000H
0000H
0000H
0000H
0000H
0000H
0000H
0000H
7