Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Manual (Page 202)

5.9 Compatible Adjustment Function
5-65
Adjustments
5.9.4 Position Integral Time Constant
This function adds an integral control operation to the position loop. It is effective for electronic cam or elec-
tronic shaft applications.
Parameter Meaning When Enabled Classification
Pn408
n. 0 Disables 1st notch filter. [Factory setting]
Immediately Tuning
n. 1 Uses 1st notch filter.
n. 0 Disables 2nd notch filter. [Factory setting]
n. 1 Uses 2nd notch filter.
Pn40C
2nd Notch Filter Frequency
Classification
Setting Range Setting Unit Factory Setting When Enabled
50 to 5000 1 Hz 5000 Immediately Tuning
Pn40D
2nd Notch Filter Q Value
Classification
Setting Range Setting Unit Factory Setting When Enabled
50 to 1000 0.01 70 Immediately Tuning
Pn40E
2nd Notch Filter Depth
Classification
Setting Range Setting Unit Factory Setting When Enabled
0 to 1000 0.001 0 Immediately Tuning
Pn40F
2nd Step 2nd Torque Reference Filter
Frequency
Classification
Setting Range Setting Unit Factory Setting When Enabled
100 to 5000 1 Hz 5000 Immediately Tuning
Pn410
2nd Step 2nd Torque Reference Filter Q
Value
Classification
Setting Range Setting Unit Factory Setting When Enabled
50 to 1000 0.01 50 Immediately Tuning
• Sufficient precautions must be taken when setting the notch filter frequencies. Do not
set the notch filter frequencies (Pn409 or Pn40C) that is close to the speed loop’s
response frequency. Set the frequencies at least four times higher than the speed
loop’s response frequency. Setting the notch filter frequency too close to the response
frequency may cause vibration and damage the machine.
• Change the notch filter frequency (Pn409 or Pn40C) only when the motor is stopped.
Vibration may occur if the notch filter frequency is changed when the motor is rotating.
Speed Position Torque
Speed Position Torque
Speed Position Torque
Speed Position Torque
Speed Position Torque
Pn11F
Position Integral Time Constant
Classification
Setting Range Setting Unit Factory Setting When Enabled
0 to 50000 0.1 ms 0 Immediately Tuning
Position