Yaskawa SGDS Sigma III Servo Amplifier - Manual (Page 361)

11 Appendix
11-46
11.4 Parameter Recording Table
Use the following table for recording parameters. Parameter changing method is as follows:
: Can be changed at any time, and immediately validated after changing. (Called an online parameter.)
: Can be changed when DEN=1. Immediately validated after changing. Do not change when DEN = 0. Doing
so may lead to overrun (Called an offline 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.
Factory
Setting
Name
Changing
Method
Pn000 0000 Function Selection Basic Switch 0
∆
Pn001 0000 Function Selection Application Switch 1 ∆
Pn002 0000 Function Selection Application Switch 2 ∆
Pn004 0000 Function Selection Application Switch 4 ∆
Pn006 0002 Function Selection Application Switch 6
Pn007 0000 Function Selection Application Switch 7
Pn008 4000 Function Selection Application Switch 8 ∆
Pn100 40.0 Hz Speed Loop Gain
Pn101 20.00 ms Speed Loop Integral Time Constant
Pn102 40.0/s Position Loop Gain
Pn103 0 % Moment of Inertia Ratio
Pn104 40.0 Hz 2nd Speed Loop Gain
Pn105 20.00 ms 2nd Speed Loop Integral Time Constant
Pn106 40.0/s 2nd Position Loop Gain
Pn107 0 RPM Bias
Pn108 7 reference
units
Bias Addition Width
Pn109 0 % Feed Forward Gain
Pn10A 0.00 ms Feed Forward Filter Time Constant
Pn10B 0000 Gain Related Application Switch ∆
Pn10C 200 % Mode Switch (torque reference)
Pn10D 0 RPM Mode Switch (speed reference)
Pn10E 0 RPM/s Mode Switch (acceleration)
Pn10F 0 reference
units
Mode Switch (error pulse)
Pn110 0012 Normal Autotuning Switches ∆
Pn111 100 % Speed Feedback Compensation Gain
Pn119 50.0/s Reference Filter Gain
Pn11A 100.0 % Reference Filter Gain Compensation
Pn11E 100.0 % Reference Filter Bias (Forward)
Pn11F 0.0 ms Position Integral Time Constant
Pn12B 40.0 Hz 3rd Speed Loop Gain
Pn12C 20.00 ms 3rd Speed Loop Integral Time Constant
Pn12D 40.0/s 3rd Position Loop Gain
Pn12E 40.0 Hz 4th Speed Loop Gain
Pn12F 20.00 ms 4th Speed Loop Integral Time Constant
Pn130 40.0/s 4th Position Loop Gain
Pn131 0 ms Gain Switching Time 1
Pn132 0 ms Gain Switching Time 2
Pn135 0 ms Gain Switching Waiting Time 1