Yaskawa DR2 Sigma Servo - Manual (Page 475)

LIST OF USER CONSTANTS
466
For Speed/Torque Control
List of User Constants (User Constant Setting)
Category User
Constant
No.
Code Name Unit Lower
Limit
Upper
Limit
Factory
Setting
Remarks
Cn-00 Not a user constant. (Cn-00 is used to select special mode for digital operator.)
Cn-01 Memory switch (see on page 468.) See note 1
Cn-02 Memory switch (see on page 469.) See note 1
Gain Related
Constants
Cn-03 VREFGN Speed reference
gain
(r/min)/V 10 2162 500 See 3.2.1,
3.2.7. Co s a s
Cn-04 LOOPHZ Speed loop gain Hz 1 2000 80 See note 2
See 3.5.2,
3.6.1, 3.6.2.
Cn-05 PITIME Speed loop
integration time
constant
0.01ms 2 10000 2000 See note 2
See 3.5.2,
3.6.1, 3.6.2.
Cn-1A POSGN Position loop gain 1/s 1 500 40 See note 2
and 3
See 3.5.2,
3.6.1, 3.6.2.
Torque
Related
Constants
Cn-13 TCRFGN Torque reference
gain
(0.1
V/rated
torque)
10 100 30 See 3.2.7,
3.2.8, 3.2.9.
Cn-06 EMGTRQ Emergency stop
torque
% 0 Max. torque Max.
torque
See 3.1.2.
Cn-08 TLMTF Forward rotation
torque limit
% 0 Max. torque Max.
torque
See 3.1.3.
Cn-09 TLMTR Reverse rotation
torque limit
% 0 Max. torque Max.
torque
See 3.1.3.
Cn-14 TCRLMT Speed limit for
torque control I
r/min 0 4500 4500 See 3.2.7.
Cn-17 TRQFIL Torque reference
filter time
constant
100 µs 0 250 4 See 3.5.5.
Cn-18 CLMIF Forward external
torque limit
% 0 Max. torque 100 See 3.1.3.
Cn-19 CLMIR Reverse external
torque limit
% 0 Max. torque 100 See 3.1.3.
Sequence
Related
Constants
Cn-07 SFSACC Soft start time
(acceleration)
ms 0 10000 0 See note 4
See 3.2.6,
3.5.1.
Cn-23 SFSDEC Soft start time
(deceleration)
ms 0 10000 0 See note 4
See 3.2.6,
3.5.1.
Cn-0B TGONLV Zero-speed level r/min 1 4500 20 See 3.7.5.
Cn-12 BRKTIM Time delay from
brake reference
until servo OFF
10 ms 0 50 0 See 3.4.4.
Cn-15 BRKSPD Speed level for
brake reference
output during
motor operation
r/min 0 4500 100 See 3.4.4.
D
Speed/Torque