Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Manual (Page 306)

10.1 List of Parameters
10-9
Appendix
Pn139
Automatic Gain Changeover Related
Switch 1
0000 to 0052 − 0000 Immediately Tuning −
Pn13D Current Gain Level 100 to 2000 1% 2000 Immediately Tuning 5.8.4
Pn140
Model Following Control Related
Switch
0000 to 1121 − 0100 Immediately Tuning −
Pn141 Model Following Control Gain 10 to 20000 0.1/s 500 Immediately Tuning −
Pn142
Model Following Control Gain Com-
pensation
500 to 2000 0.1% 1000 Immediately Tuning −
∗1. For details on this function, refer to the manual of the connected command option module.
(cont’d)
Parameter
No.
Name
Setting
Range
Units
Factory
Setting
When
Enabled
Classification Reference
Section
0
1
2
Manual gain switching
Switches between 1st gain and 2nd gain using the gain switching reference from the command option module.
Reserved (Do not change.)
Automatic gain switching pattern 1
Changes automatically 1st gain to 2nd gain when the switching condition A is satisfied.
Changes automatically 2nd gain to 1st gain when the switching condition A is not satisfied.
Gain Switching Selection Switch *1
4th
digit 3rd
digit 2nd
digit 1st
digit
n.
0
1
2
3
4
5
Positioning completion signal (/COIN) ON
Positioning completion signal (/COIN) OFF
NEAR signal (/NEAR) ON
NEAR signal (/NEAR) OFF
Position reference filter output = 0 and reference input OFF
Position reference input ON
Gain Switching Condition A
Reserved (Do not change.)
Reserved (Do not change.)
(Refer to 5.8.1)
(Refer to 5.8.1)
0
1
Does not use model following control.
Uses model following control.
Model Following Control Selection
4th
digit 3rd
digit 2nd
digit 1st
digit
n.
0
1
2
Does not perform vibration suppression.
Performs vibration suppression over the specified frequency.
Performs vibration suppression over two different kinds of frequencies.
Vibration Suppression Selection
0
1
Does not use model following control and speed/torque feedforward together.
Uses model following control and speed/torque feedforward together.
Selection of Speed Feedforward (VFF) / Torque Feedforward (TFF)
0
1
Does not adjust vibration suppression automatically using utility function.
Adjusts vibration suppression automatically using utility function.
Vibration Suppression Adjustment Selection (Refer to 5.3.1, 5.4.1, 5.5.1, 5.7.1）
(Refer to 5.3.1, 5.4.1）