Yaskawa Varispeed 626M5 - Manual (Page 175)

Control Constants
10-8
10.2 Encoder Orientation Constants
The encoder orientation constants are listed in the following table.
Table 10.2 Encoder Orientation Constants
Con-
stant
No.
Name Explanation Change
* 1
Unit Standard
Setting
Upper
Limit/
Lower
Limit
C2 01
Load Shaft Position-
ing Origin
Mechanical origin of the load shaft. Set difference from encoder ori-
gin signal (phase C) pulses Yes Pulse 0
4095
C2-01 ing Origin
P
ORG
gin signal (phase C) pulses. Yes Pulse 0
0
C2 02
Position Control
Proportional Gain
(H)
Position control proportional gain when high-speed gear is selected
(i.e., MGR and LGR are OFF) or when high-speed winding is se-
l d (i CHW i OFF) I i K i i idi Yes 1/s 15
99
C2-02
p
(H)
K PH
( , ) g p g
lected (i.e., CHW is OFF). Increasing K
PH
increases rigidity.
Speed reference (pps) = K
PH × Position tolerance (pulses)
Yes 1/s 15
1
C2 03
Position Control
Proportional Gain
Position control proportional gain when medium-speed gear is se-
lected (i.e., MGR is ON). Increasing K
PM
increases rigidity.
Yes 1/s 15
99
C2-03
Proportional Gain
(M)
K
PM
lected (i.e., MGR is ON). Increasing K
PM
increases rigidity.
Speed reference (pps) = K
PM × Position tolerance (pulses)
Yes 1/s 15
1
C2 04
Position Control
Proportional Gain
(L)
Position control proportional gain when low-speed gear is selected
(i.e., LGR is ON) or when low-speed winding is selected (i.e., CHW
i ON) I i K i i idi Yes 1/s 15
99
C2-04
p
(L)
K PL
( , ) p g ( ,
is ON). Increasing K
PL
increases rigidity.
Speed reference (pps) = K
PL × Position tolerance (pulses)
Yes 1/s 15
1
C2 05
Speed Control Pro-
portional Gain (H)
K
Speed control proportional gain when high-speed gear is selected
(i.e., MGR and LGR are OFF) or when high-speed winding is se-
l d (i CHW i OFF) i i i l (i ORT i ON) Yes %/Hz 40
255
C2-05
p ( )
K VHO
( , ) g p g
lected (i.e., CHW is OFF) in orientation control (i.e., ORT is ON).
Torque reference P = K VHO × Speed tolerance
Yes %/Hz 40
1
C2 06
Speed Control Inte-
gral Time Constant
(H)
Speed control integral time constant when high-speed gear is selected
(i.e., MGR and LGR are OFF) or when high-speed winding is se-
l d (i CHW i OFF) i i i l (i ORT i ON) Yes ms 100
1000
C2-06
g
(H)
τ
VHO
( , ) g p g
lected (i.e., CHW is OFF) in orientation control (i.e., ORT is ON).
Torque reference I = Torque reference P × Time/τ
VHO
Yes ms 100
5
C2 07
Speed Control Pro-
portional Gain (M,
L)
Speed control proportional gain when low-speed gear is selected (i.e.,
MGR or LGR is ON) or when high-speed winding is selected (i.e.,
CHW i ON) i i i l (i ORT i ON) Yes %/Hz 40
255
C2-07
p ( ,
L)
K VLO
) g p g ( ,
CHW is ON) in orientation control (i.e., ORT is ON).
Torque reference P = K
VLO × Speed tolerance
Yes %/Hz 40
1
C2 08
Speed Control Inte-
gral Time Constant
(M L)
Speed control integral time constant when low-speed gear is selected
(i.e., MGR or LGR is ON) or when low-speed winding is selected
(i CHW i ON) i i i l (i ORT i ON) Yes ms 100
1000
C2-08
g
(M, L)
τ
VLO
( , ) p g
(i.e., CHW is ON) in orientation control (i.e., ORT is ON).
Torque reference I = Torque reference P × Time/τ VLO
Yes ms 100
5
C2 09
Positioning Comple-
tion Detection Width
Detection width for outputting completion signal when the load shaft
approaches the stop reference position Detection width is stop refer No Pulse 5
200
C2-09 tion Detection Width
Z FIN
approaches the stop reference position. Detection width is stop refer-
ence position ±Z FIN.
No Pulse 5
0
C2 10
Positioning Comple-
tion Cancel Width
Set value for canceling completion signal when the load shaft is
moved after completion signal is output Cancel width is stop refer No Pulse 10
200
C2-10 tion Cancel Width
Z
CAN
moved after completion signal is output. Cancel width is stop refer-
ence position ±Z
CAN.
No Pulse 10
Z
FIN
C2 11
Orientation Speed
S
Speed applied (after detecting encoder origin) until changing to the
servo loop during orientation No min −1 400
600
C2-11 S
ORT servo loop during orientation. No min −1 400
40
C2 12
BCD Stop Position
Reference Resolu
Angle set value per minimum increment of stop position BCD com-
mand No Deg 1 0
180.0
C2-12 Reference Resolu-
tion P BCD
mand. No Deg. 1.0
0.5
C2 13
Virtual Stop
Position Offset
Stop position offset for smoothing stop operation when the servo loop
is used When Z FIN is reached offset becomes 0 No Pulse 0
100
C2-13 Position Offset
P
IMG
is used. When Z FIN is reached, offset becomes 0. No Pulse 0
0
C2 14
Orientation Speed
Changing Ratio
Speed changing ratio for gradually reducing orientation speed to
reduce gear noise when switching from orientation speed to servo No 0
100
C2-14 Changing Ratio
R
SOR
reduce gear noise when switching from orientation speed to servo
loop speed.
No --- 0
0
C2 15
Starting Soft Start
Time
Soft start time for accelerating from at rest state to orientation speed.
Use this parameter to reduce gear noise at starting Acceleration rate No ms 0
50
C2-15 Time
T
SFO
Use this parameter to reduce gear noise at starting. Acceleration rate
is (500 min −1 )/sec.
No ms 0
0
10