Yaskawa Sigma-5 Large Capacity Users Manual: Design and Maintenance-Rotary Motors-Mechatrolink-II Communication Reference - Manual (Page 356)

10.1 List of Parameters
10-11
10
Ap
pend
ix
Pn144 2
Model Following Control Bias
(Reverse Direction)
0 to 10000 0.1% 1000 Immediately Tuning −
Pn145 2
Vibration Suppression 1
Frequency A
10 to 2500 0.1 Hz 500 Immediately Tuning −
Pn146 2
Vibration Suppression 1
Frequency B
10 to 2500 0.1 Hz 700 Immediately Tuning −
Pn147 2
Model Following Control Speed Feedfor-
ward
Compensation 0 to 10000 0.1% 1000 Immediately Tuning −
Pn148 2 2nd Model Following Control Gain 10 to 20000 0.1/s 500 Immediately Tuning −
Pn149 2
2nd Model Following Control Gain Com-
pensation
500 to 2000 0.1% 1000 Immediately Tuning −
Pn14A 2
Vibration Suppression 2
Frequency
10 to 2000 0.1 Hz 800 Immediately Tuning −
Pn14B 2 Vibration Suppression 2 Compensation 10 to 1000 1% 100 Immediately Tuning −
Pn14F
2 Control Related Switch 0000 to 0011 － 0011 After restart Tuning –
Pn160
2 Anti-Resonance Control Related Switch 0000 to 0011 − 0010 Immediately Tuning
5.3.1,
5.4.1,
5.5.1,
5.7.1
Pn161 2 Anti-Resonance Frequency 10 to 20000 0.1 Hz 1000 Immediately Tuning −
(cont’d)
Parameter
No.
Size Name
Setting
Range
Units
Factory
Setting
When
Enabled
Classi-
fication
Reference
Section
Model Following Control Type Selection
Reference
Section
0 Model Following Control 1 5.3.1,
5.4.1,
5.5.1
1
Model Following Control 2
Tuning-less Type Selection
Reference
Section
0 Tuning-less type 1
5.2.2
1 Tuning-less type 2
Reserved (Do not change.)
Reserved (Do not change.)
4th 3rd 2nd 1st
digit digit digit digit
n.
Anti-Resonance Control Selection
0 Does not use anti-resonance control.
1 Uses anti-resonance control.
Anti-Resonance Control Adjustment Selection
0 Does not adjust anti-resonance control automatically using utility function.
1 Adjusts anti-resonance control automatically using utility function.
Reserved (Do not change.)
Reserved (Do not change.)
4th 3rd 2nd 1st
digit digit digit digit
n.