Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Manual (Page 305)

10 Appendix
10.1.2 Parameters
10-8
Pn100 Speed Loop Gain 10 to 20000 0.1 Hz 400 Immediately Tuning
5.8.1
Pn101 Speed Loop Integral Time Constant 15 to 51200 0.01 ms 2000 Immediately Tuning
Pn102 Position Loop Gain 10 to 20000 0.1/s 400 Immediately Tuning
Pn103 Moment of Inertia Ratio 0 to 20000 1% 100 Immediately Tuning
Pn104 2nd Speed Loop Gain 10 to 20000 0.1 Hz 400 Immediately Tuning
Pn105
2nd Speed Loop Integral Time Con-
stant
15 to 51200 0.01 ms 2000 Immediately Tuning
Pn106 2nd Position Loop Gain 10 to 20000 0.1/s 400 Immediately Tuning
Pn109 Feedforward Gain 0 to 100 1% 0 Immediately Tuning
5.9.1
Pn10A Feedforward Filter Time Constant 0 to 6400 0.01 ms 0 Immediately Tuning
Pn10B
Application Function for Gain Select
Switch
0000 to 5334 − 0000 − − −
Pn10C Mode Switch (torque reference) 0 to 800 1% 200 Immediately Tuning
5.9.2
Pn10D Mode Switch (speed reference) 0 to 10000 1 min -1 0 Immediately Tuning
Pn10E Mode Switch (acceleration) 0 to 30000 1 min -1 / s 0 Immediately Tuning
Pn10F Mode Switch (position error pulse) 0 to 10000
1 refer-
ence unit
0 Immediately Tuning
Pn11F Position Integral Time Constant 0 to 50000 0.1 ms 0 Immediately Tuning 5.9.4
Pn121 Friction Compensation Gain 10 to 1000 1% 100 Immediately Tuning
5.8.2
Pn122 2nd Gain for Friction Compensation 10 to 1000 1% 100 Immediately Tuning
Pn123 Friction Compensation Coefficient 0 to 100 1% 0 Immediately Tuning
Pn124
Friction Compensation Frequency
Correction
-10000 to
10000
0.1 Hz 0 Immediately Tuning
Pn125
Friction Compensation Gain Correc-
tion
1 to 1000 1% 100 Immediately Tuning
Pn131 Gain Switching Time 1 0 to 65535 1 ms 0 Immediately Tuning
5.8.1
Pn132 Gain Switching Time 2 0 to 65535 1 ms 0 Immediately Tuning
Pn135 Gain Switching Waiting Time 1 0 to 65535 1 ms 0 Immediately Tuning
Pn136 Gain Switching Waiting Time 2 0 to 65535 1 ms 0 Immediately Tuning
(cont’d)
Parameter
No.
Name
Setting
Range
Units
Factory
Setting
When
Enabled
Classification Reference
Section
0
1
2
3
4
Uses internal torque reference as the condition (Level setting: Pn10C)
Uses speed reference as the condition (Level setting: Pn10D)
Uses acceleration as the condition (Level setting: Pn10E)
Uses position error pulse as the condition (Level setting: Pn10F)
No mode switch function available
Mode Switch Selection
Reserved (Do not change.)
4th
digit 3rd
digit 2nd
digit 1st
digit
n.
Immediately
When
Enabled
0
1
2 and 3
PI control
I-P control
Reserved (Do not change.)
Speed Loop Control Method
After restart
When
Enabled
Reserved (Do not change.)
Setup
Classification
Setup
Classification
(Refer to 5.9.2)