Yaskawa MP940 User Manual
Page 489
B-3
B
Gain Re-
lated Con-
stants
Pn100
Speed Loop Gain
Hz
1
2000
40
Pn101
Speed Loop Integral Time
Constant
0.01 ms
15
51200
2000
Pn102
Position Loop Gain
1/s
1
2000
40
Pn103
Inertia Ratio
%
0
10000
100
Pn104
2nd Speed Loop Gain
Hz
1
2000
40
Pn105
2nd Speed Loop Integral Time
Constant
0.01 ms
15
51200
2000
Pn106
2nd Position Loop Gain
1/s
1
2000
40
Pn107
Bias
r/min
0
450
0
Pn108
Bias Width Addition
reference units
0
250
7
Pn109
Feed-forward
%
0
100
0
Pn10A
Feed-forward Filter Time Con-
stant
0.01 ms
0
6400
0
Pn10B
Gain-related Application
Switches
-
-
-
0000
Pn10C
Mode Switch Torque Refer-
ence
%
0
800
200
Pn10D
Mode Switch Speed Reference r/min
0
10000
0
Pn10E
Mode Switch Acceleration
10 r/min/s
0
3000
0
Pn10F
Mode Switch Error Pulse
reference units
0
10000
0
Pn110
Online Autotuning Switches
-
-
-
0000
Pn111
Speed Feedback Compensation
(See note 2.)
%
1
100
100
Gain Re-
lated Con-
stants
Pn112
Fixed parameters (Do not
change.)
%
0
1000
100
Pn113
-
0
10000
1000
Pn114
-
0
400
200
Pn115
-
0
1000
32
Pn116
-
0
1000
16
Pn117
%
20
100
100
Pn118
%
50
100
100
Pn119
1/s
1
2000
50
Pn11A
0.1%
1
2000
1000
Pn11B
Hz
1
150
50
Pn11C
Hz
1
150
70
Pn11D
%
0
150
100
Pn11E
%
0
150
100
Pn11F
Ms
0
2000
0
Pn120
0.01 ms
0
51200
0
Pn121
Hz
10
250
50
Pn122
Hz
0
250
0
Pn123
%
0
100
0
Category
Parame-
ter No.
Name
Unit
Lower
Limit
Upper
Limit
Default
Setting
Reference