Yaskawa MP940 Reference Manual - Manual (Page 132)

MotionSuite™ MP940 Machine Controller Reference Manual Mechatrolink Function
4-41
Speed Loop Gain Set the following user parameters for SGDH beforehand.
Pn100:
Speed Loop Gain Pn101:
Speed Loop Integral Time Constant
Pn104:
2nd Speed Loop Gain Pn105: 2nd Speed Loop Integral Time Constant
This is switched by Gain Switching (OWC001) of the motion setup parameter
Servo RUN Command (OBC0012).
Note: Change SGDH user parameters Pn100, Pn101, Pn104, Pn105 by com-
mand communication with the SGDH.
Speed Loop
Integration Time
Constant —
Position Loop
Integration Time
Constant Still changeable by the motion setting parameter Position Control Integral Time
Constant (OWC035).
Soft Start
Acceleration Time
Constant Change the SGDH user parameters Pn305 Soft Start Acceleration Time Constant
and Pn305 Soft Start Deceleration Time Constant with SGDH command com-
munication.
Soft Start
Deceleration Time
Constant —
Positive Torque Limit There are two types of torque limit switching.
Method with Control by Torque Limit Command from MP940
Set the limit using the emotion setting parameter Forward Torque Limit Setting
(OWC002).
Method Using the SGDH User Parameters
Changes the user parameters through SGDH command communication.
Pn402:
Forward Torque Limit
Pn403:
External Input Forward Torque Limit
Pn405:
Reverse Torque Limit
Pn406: External Input Reverse Torque Limit
Perform Forward/Reverse switching with Forward External Torque Limit Input
(OBC0013) and Reverse External Torque Limit Input (OBC0014) of the motion
set-up parameter Servo Drive RUN Command (OWC001).
Reverse Torque Limit —
Changeable Parameters (Continued)