Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Manual (Page 191)

5 Adjustments
5.8.1 Switching Gain Settings
5-54
(4) Related Parameters
Pn100
Speed Loop Gain
Classification
Setting Range Setting Unit Factory Setting When Enabled
10 to 20000 0.1 Hz 400 Immediately Tuning
Pn101
Speed Loop Integral Time Constant
Classification
Setting Range Setting Unit Factory Setting When Enabled
15 to 51200 0.01 ms 2000 Immediately Tuning
Pn102
Position Loop Gain
Classification
Setting Range Setting Unit Factory Setting When Enabled
10 to 20000 0.1/s 400 Immediately Tuning
Pn141
Model Following Control Gain
Classification
Setting Range Setting Unit Factory Setting When Enabled
10 to 20000 0.1/s 500 Immediately Tuning
Pn142
Model Following Control Gain Compensation
Classification
Setting Range Setting Unit Factory Setting When Enabled
500 to 2000 0.1% 1000 Immediately Tuning
Pn104
2nd Speed Loop Gain
Classification
Setting Range Setting Unit Factory Setting When Enabled
10 to 20000 0.1 Hz 400 Immediately Tuning
Pn105
2nd Speed Loop Integral Time Constant
Classification
Setting Range Setting Unit Factory Setting When Enabled
15 to 51200 0.01 ms 2000 Immediately Tuning
Pn106
2nd Position Loop Gain
Classification
Setting Range Setting Unit Factory Setting When Enabled
10 to 20000 0.1/s 400 Immediately Tuning
Pn121
Friction Compensation Gain
Classification
Setting Range Setting Unit Factory Setting When Enabled
10 to 1000 0.1% 100 Immediately Tuning
Pn122
2nd Gain for Friction Compensation
Classification
Setting Range Setting Unit Factory Setting When Enabled
10 to 1000 1% 100 Immediately Tuning
Pn148
2nd Model Following Control Gain
Classification
Setting Range Setting Unit Factory Setting When Enabled
10 to 20000 0.1/s 500 Immediately Tuning
Pn149
2nd Model Following Control Gain Compensation
Classification
Setting Range Setting Unit Factory Setting When Enabled
500 to 2000 0.1 % 1000 Immediately Tuning
Pn412
1st step 2nd Torque Reference Filter
Time Constant
Classification
Setting Range Setting Unit Factory Setting When Enabled
0 to 65535 0.01 ms 100 Immediately Tuning
Speed Position
Speed Position
Position
Position
Position
Speed Position
Speed Position
Position
Speed Position
Speed Position
Position
Position
Speed Position Torque