Yaskawa Sigma-5 Large Capacity Users Manual: Design and Maintenance-Rotary Motors-Mechatrolink-II Communication Reference - Manual (Page 353)

10 Appendix
10.1.2 Parameters
10-8
Pn00D
2 Application Function Select Switch D 0000 to 1011 − 0000 Immediately Setup –
Pn081
2 Application Function Select Switch 81 0000 to 1111 − 0000 After restart Setup 8.1.5
Pn100 2 Speed Loop Gain 10 to 20000 0.1 Hz 400 Immediately Tuning 5.8.1
Pn101 2 Speed Loop Integral Time Constant 15 to 51200 0.01 ms 2000 Immediately Tuning 5.8.1
Pn102 2 Position Loop Gain 10 to 20000 0.1/s 400 Immediately Tuning 5.8.1
Pn103 2 Moment of Inertia Ratio 0 to 20000 1% 100 Immediately Tuning 5.8.1
Pn104 2 2nd Speed Loop Gain 10 to 20000 0.1 Hz 400 Immediately Tuning 5.8.1
Pn105 2 2nd Speed Loop Integral Time Constant 15 to 51200 0.01 ms 2000 Immediately Tuning 5.8.1
Pn106 2 2nd Position Loop Gain 10 to 20000 0.1/s 400 Immediately Tuning 5.8.1
Pn109 2 Feedforward Gain 0 to 100 1% 0 Immediately Tuning 5.9.1
Pn10A 2
Feedforward Filter Time
Constant
0 to 6400 0.01 ms 0 Immediately Tuning 5.9.1
(cont’d)
Parameter
No.
Size Name
Setting
Range
Units
Factory
Setting
When
Enabled
Classi-
fication
Reference
Section
Reserved (Do not change.)
Dynamic Brake Signal Selection
Reference
Section
0 Enables the control of an NO contactor
(The dynamic brake is activated when current is supplied to the contactor coil.)
3.9.3
1 Enables the control of an NC contactor
(The dynamic brake is activated when current is not supplied to the contactor coil.)
Reserved (Do not change.)
Overtravel Warning Detection Selection
Reference
Section
0 Does not detect overtravel warning.
4.3.2
1 Detects overtravel warning.
4th 3rd 2nd 1st
digit digit digit digit
n.
Reserved (Do not change.)
n.
Reserved (Do not change.)
0
1
Phase-C Pulse Output Selection
Outputs phase-C pulse only in forward direction.
Outputs phase-C pulse in forward and reverse direction.
Reserved (Do not change.)
4th
digit 3rd
digit 2nd
digit 1st
digit