Yaskawa Sigma Mini - Manual (Page 267)

LIST OF PARAMETERS
— C-2 —
For Speed/Torque Control
List of Parameters (Parameter Setting)
Category Parameter
No.
Code Name Unit Lower
Limit
Upper
Limit
Factory
Setting
Remarks
− Cn-00 Not a parameter. (Cn-00 is used to select special mode for digital operator.)
Cn-01 Memory switch (see page C-4) See note 1
Cn-02 Memory switch (see page C-4) See note 1
Gain
Related
C
Cn-03 VREFGN Speed reference
adjustment gain
(min −1 )/V 0 2162 500
e ated
Constants
Cn-04 LOOPHZ Speed loop gain Hz 1 2000 80 See note 2
Cn-05 PITIME Speed loop
integration time
constant
ms 2 10000 20 See note 2
Cn-1A POSGN Position loop
gain
1/s 1 500 40 See note 2
and 3
Torque
Related
C
Cn-13 TCRFGN Torque reference
gain
(0.1 V/
100%)
10 100 30
e ated
Constants
Cn-08 TLMTF Forward rotation
torque limit
% 0 Maximum
torque
Maximum
torque
Cn-09 TLMTR Reverse rotation
torque limit
% 0 Maximum
torque
Maximum
torque
Cn-14 TCRLMT Speed limit for
torque control
min −1 0 Maximum
speed
Maximum
speed
Cn-17 TRQFIL Torque reference
filter time
constant
0.1 ms 0 250 4
Cn-18 CLMI Forward/reverse
external torque
limit
% 0 Maximum
torque
100
Sequence
Related
C
Cn-07 SFSACC Soft start time
(acceleration)
ms 0 10000 0 See note 4
e ated
Constants
Cn-23 SFSDEC Soft start time
(deceleration)
ms 0 10000 0 See note 4
Cn-0B TGONLV Zero-speed level min −1 1 20
Cn-0F ZCLVL Zero-clamp level min −1 0 16383 10
Cn-12 BRKTIM Base block wait
time
10 ms 0 50 0
Cn-15 BRKSPD Brake wait speed min −1 0 Maximum
speed
100
Cn-16 BRKWAI Brake wait time 10 ms 10 100 50
Cn-22 VCMPLV Speed
coincidence
signal output
range
min −1 0 100 10
Pulse
R l d
Cn-0A PGRAT PG dividing ratio P/R 16 32768 2048 See note 1
Related
Constants
Cn-11 PULSNO Number of
encoder pulses
P/R 513 32768 2048 See note 1
C
Speed/Torque