Yaskawa MP2200 Machine Controller - Manual (Page 199)

4.4 SVA-01 Module Parameter Details
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( 22 ) Latch
( 23 ) Gain and Bias Settings
OL††2A
Latch Zone Lower Limit
Setting
Setting Range Setting Unit Default Value
−2 31 to 2 31 −1 Reference unit 2 31 −1
Set the range in which the latch signal is valid (position from the zero position) for external positioning.
OL††2C
Latch Zone Upper Limit
Setting
Setting Range Setting Unit Default Value
−2 31 to 2 31 −1 Reference unit 2 31 −1
Same as above.
Position Phase Speed Torque
Position Phase Speed Torque
OW††2E
Position Loop Gain
Setting Range Setting Unit Default Value
0 to 32767 0.1/s 300
Determines the responsiveness of the position loop.
If the position loop gain is set high, the responsiveness is high and the positioning time is short.
Set the optimum value to match the machine's rigidity and inertia, as well as the type of Servomotor being used.
OW††30
Speed Feed Forward
Compensation
Setting Range Setting Unit Default Value
0 to 32767 0.01% 0
The positioning time can be reduced by applying feed forward compensation.
This setting is effective for positioning control commands. Always set this parameter to 0 when using phase control.
OW††31
Speed Amends
Setting Range Setting Unit Default Value
−32768 to 32767 0.01% 0
Set the speed feed forward gain as a percentage of the rated speed for the phase reference command (PHASE).
The setting units for this parameter is 0.01% (fixed). The setting unit for Secondary Speed Compensation (OL††16), however,
can be selected by the user.
When used at the same time as OW††16, speed compensation is applied twice.
OW††32
Position Integration Time
Constant
Setting Range Setting Unit Default Value
0 to 32767 ms 0
This is the integration function for the position loop.
Use this parameter to improve the following precision in applications such as electronic cams or shafts.
OW††33
Primary Lag Time Constant
Setting Range Setting Unit Default Value
0 to 32767 ms 0
Set the primary lag time constant (in ms) in the position loop.
If the time constant is set to 0, the primary lag calculation is not performed.
This filter is used in Position Control Mode and Zero Point Return Mode.
（ Note） Set this parameter to 0 unless it is needed, because the primary lag may cause oscillation.
Position Phase Speed Torque
Position Phase Speed Torque
Position Phase Speed Torque
Position Phase Speed Torque
Position Phase Speed Torque