Yaskawa Sigma-5 User Manual: Design and Maintenance - Linear Motors User Manual
Page 294
9.1 List of Parameters
9-9
9
Appendix
Pn10C
Mode Switch (force reference)
0 to 800
1%
200
Immediately
Tuning
5.9.2
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
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
∗1. For details on this function, refer to the manual of the connected Command Option Module.
Parameter
No.
Name
Setting
Range
Units
Factory
Setting
When
Enabled
Classification Reference
Section
0
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
No output for position reference filter and reference pulse input OFF
Position reference pulse input ON
Gain Switching Condition A
Reserved (Do not change.)
Reserved (Do not change.)
1
2
(Refer to 5.8.1)
(Refer to 5.8.1)