Yaskawa SGDS Sigma III Servo Amplifier - Manual (Page 333)

11 Appendix
11.2.2 List of Parameters
11-18
Pn110 Normal Autotuning Switches 2 − − 0012 ∆/ 8.2.3
8.6.5
Pn111 Speed Feedback Compensation Gain * 2 1 to 500% 1% 100% 8.6.5
Pn119 Reference Filter Gain 2 1 to 2000.0/s 0.1/s 50.0/s
8.6.8 Pn11A Reference Filter Gain Compensation 2 50.0 to 200.00 % 0.1 % 100.0 %
Pn11E Reference Filter Bias (Forward) 2 0.0 to 1000.0 % 0.1 % 100.0 %
Pn11F Position Integral Time Constant 2 0.0 to 5000.0 ms 0.1 ms 0.0 ms 8.6.12
Pn12B 3rd Speed Loop Gain 2 1.0 to 2000.0 Hz 0.1 Hz 40.0 Hz
8.6.6
Pn12C 3rd Speed Loop Integral Time
Constant 2 0.15 to 512.00 ms 0.01 ms 20.00 ms
Pn12D 3rd Position Loop Gain 2 1.0 to 2000.0 /s 0.1 /s 40.0 /s
Pn12E 4th Speed Loop Gain 2 1.0 to 2000.0 Hz 0.1 Hz 40.0 Hz
Pn12F 4th Speed Loop Integral Time
Constant 2 0.15 to 512.00 ms 0.01 ms 20.00 ms
Pn130 4th Position Loop Gain 2 1.0 to 2000.0 /s 0.1 /s 40.0 /s
Pn131 Gain Switching Time1 2 0 to 65535 ms 1 ms 0 ms
Pn132 Gain Switching Time 2 2 0 to 65535 ms 1 ms 0 ms
Pn135 Gain Switching Waiting Time 1 2 0 to 65535 ms 1 ms 0 ms
8.6.6
Pn136 Gain Switching Waiting Time 2 2 0 to 65535 ms 1 ms 0 ms
* The parameter Pn111 setting is enabled only when the parameter Pn110.1 is set to “0.”
Note:
: Can be changed at any time, and immediately validated after changing. (Called an online
parameter.)
∆: Validated after a Set Up Device command is sent, when loading and using parameters at
power ON. Also validated when turning OFF and then ON the power supply again after a
Write Non-volatile Parameter (PPRM_WR) command is sent.
Parameter
No.
Name
Data
Size
Setting Range Units
Factory
Setting
Changing
Method
Reference
Section
0
1
2
0
1
Performs normal autotuning only when operation starts.
Always performs normal autotuning.
Performs manual tuning but not normal autotuning.
Available.
N/A
Reserved (Do not change)
Normal Autotuning Method
(Refer to "11.3.1 Autotuning,
8.2.3 Selecting the Normal Autotuning Execution Method.")
Changing Method
Changing Method
Speed Feedback Compensation Selection
(Refer to "8.6.5 Speed Feedback Compensation.")
Reserved (Do not change)
4th
digit
3rd
digit
2nd
digit
1st
digit
n.
Reserved (Do not change)
2 to 3
∆