Yaskawa MotionWorks+ Windows Software - Manual (Page 130)

Programming Tools MotionWorks+™
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Parameters
pGain_FeedForward - Describes the amount of bias that is applied to the servo
throughout the move. As the servo is commanded to rotate faster, the amount of bias
changes to keep following errors to a minimum.
pGain_Integral_PControl - The integration value used when tuning the servo. The
lower the value, the quicker the response.
pGain_PositionLoop - Adjusts the response of the servo. A higher value causes the
servo to achieve its commanded position more quickly when acted upon by external
forces, or acceleration. If this value is too high for the machine rigidity, vibration
results.
pLimit_Integration - Defines a limit to the amount of integration. The lower the num-
ber, the less the integration has an effect on the servo tuning. This can help reduce oscil-
lation.
pLimit_PositioningError - Defines the maximum allowable following error (in user
units) the servo can accumulate before an alarm is generated. This alarm is set in
mPosition_Error_Exceeded.
pLimit_Speed - This parameter is only applicable when the servo is in torque mode. It
defines the maximum allowable speed of the servo. If the commanded torque causes the
servo to go beyond this value, the torque is reduced to keep the speed of the servo within
this limit.
Settable System Variables
sAcceleration_Virtual - If the virtual encoder mode is used, this is the accel and decel
rate applied to any speed changes of sSpeed_Virtual. This value is in external user units/
second
2
.
sCamShift_Clear - Clears the absolute cam shift (mCamShift) value to zero. Set this
system variable to “1” to enable. It will automatically set itself back to zero when the
operation is performed, which takes only one high scan. The cam shift value mCamShift
can only be cleared if camming is not engaged. If camming is engaged and
sCamShift_Clear is set to one, the function will not work until camming is disengaged.