Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Manual (Page 307)

10 Appendix
10.1.2 Parameters
10-10
Pn143
Model Following Control Bias
(Forward Direction)
0 to 10000 0.1% 1000 Immediately Tuning −
Pn144
Model Following Control Bias
(Reverse Direction)
0 to 10000 0.1% 1000 Immediately Tuning −
Pn145 Vibration Suppression 1 Frequency A 10 to 2500 0.1 Hz 500 Immediately Tuning −
Pn146 Vibration Suppression 1 Frequency B 10 to 2500 0.1 Hz 700 Immediately Tuning −
Pn147
Model Following Control Speed
Feedforward Compensation
0 to 10000 0.1% 1000 Immediately Tuning −
Pn148 2nd Model Following Control Gain 10 to 20000 0.1/s 500 Immediately Tuning −
Pn149
2nd Model Following Control Gain
Compensation
500 to 2000 0.1% 1000 Immediately Tuning −
Pn14A Vibration Suppression 2 Frequency 10 to 2000 0.1 Hz 800 Immediately Tuning −
Pn14B
Vibration Suppression 2 Compensa-
tion
10 to 1000 1% 100 Immediately Tuning −
Pn14F
Reserved Parameter
(Do not change.)
－ － 0011 － － –
Pn160
Anti-Resonance Control Related
Switch
0000 to 0011 − 0010 After restart Tuning −
Pn161 Anti-Resonance Frequency 10 to 20000 0.1 Hz 1000 Immediately Tuning −
Pn162 Anti-Resonance Gain Compensation 1 to 1000 1% 100 Immediately Tuning −
Pn163 Anti-Resonance Damping Gain 0 to 300 1% 0 Immediately Tuning −
Pn164
Anti-Resonance Filter Time Constant
1 Compensation
-1000 to 1000 0.01 ms 0 Immediately Tuning −
Pn165
Anti-Resonance Filter Time Constant
2 Compensation
-1000 to 1000 0.01 ms 0 Immediately Tuning −
(cont’d)
Parameter
No.
Name
Setting
Range
Units
Factory
Setting
When
Enabled
Classification Reference
Section
0
1 Does not use anti-resonance control.
Uses anti-resonance control.
Anti-Resonance Control Selection
4th
digit
3rd
digit
2nd
digit
1st
digit
n.
Reserved (Do not change.)
Reserved (Do not change.)
0
1 Does not use adjust anti-resonance control automatically using utility function.
Adjusts anti-resonance control automatically using utility function.
Anti-Resonance Control Adjustment Selection
(Refer to 5.3.1, 5.4.1, 5.5.1, 5.7.1）
(Refer to 5.3.1, 5.4.1, 5.5.1, 5.7.1）