YASKAWA S-V Series User Manual page 218

10 Appendix
Parameter
No.
Application Function for Gain Select Switch
4th
digit
n.
Pn10B
Mode Switch (Torque Reference)
(Rotational servomotors)
Pn10C
Mode Switch (Force Reference)
(Linear servomotors)
*1
Mode Switch (Speed Reference)
Pn10D
*1
Mode Switch (Acceleration)
Pn10E
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
Pn125 Friction Compensation Gain Correction
Pn131 Gain Switching Time 1
Pn132 Gain Switching Time 2
Pn135 Gain Switching Waiting Time 1
Pn136 Gain Switching Waiting Time 2
∗1. Parameter exclusive for rotational servomotors
10-18
Name
3rd 2nd
1st
digit digit
digit
Mode Switch Selection
Uses internal torque reference as the condition (Level setting: Pn10C).
(Rotational servomotors)
0
Uses internal force reference as the condition (Level setting: Pn10C).
(Linear servomoros)
Uses speed reference as the condition (Level setting: Pn10D).
(Rotational servomotors)
1
Uses speed reference as the condition (Level setting: Pn181).
(Linear servomoros)
Uses acceleration as the condition (Level setting: Pn10E).
(Rotational servomotors)
2
Uses acceleration as the condition (Level setting: Pn182).
(Linear servomoros)
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 use.)
Reserved (Do not change.)
Reserved (Do not change.)
Setting Factory
Units
Range Setting
0000 to 5334 −
0000
0 to 800 1% 200
-1
0 to 10000
1 min
-1
0 to 30000
1 min / s
1 refer-
0 to 10000
ence unit
0 to 50000 0.1 ms
10 to 1000 1% 100
10 to 1000 1% 100
0 to 100 1%
-10000 to
0.1 Hz
10000
1 to 1000 1% 100
0 to 65535 1 ms
0 to 65535 1 ms
0 to 65535 1 ms
0 to 65535 1 ms
When
Classification
Enabled
− −
When
Classification
Enabled
Immediately Setup
When
Classification
Enabled
After
Setup
restart
Immediately Tuning
0 Immediately Tuning
0 Immediately Tuning
0 Immediately Tuning
0 Immediately Tuning
Immediately Tuning
Immediately Tuning
0 Immediately Tuning
0 Immediately Tuning
Immediately Tuning
0 Immediately Tuning
0 Immediately Tuning
0 Immediately Tuning
0 Immediately Tuning
(cont'd)