Yaskawa Sigma-5 Large Capacity Users Manual: Design and Maintenance-Rotary Motors-Mechatrolink-III Communication Reference - Manual (Page 390)

10.1 List of Parameters
10-41
10
Ap
pend
ix
61
PnAC2
4 Speed Loop Gain
1000 to
2000000
0.001 Hz
[0.1 Hz]
40000
Immedi-
ately
Adjustment
Related
Parameters
62
PnAC4
4 Speed Loop Integral Time Constant 150 to 512000
μs
[0.01 ms]
20000
Immedi-
ately
63
PnAC6
4 Position Loop Gain
1000 to
2000000
0.001/s
[0.1/s]
40000
Immedi-
ately
64
PnAC8
4 Feedforward Compensation 0 to 100 1% 0
Immedi-
ately
65
PnACA
4
Position Loop Integral Time
Constant
0 to 5000000
μs
[0.1 ms]
0
Immedi-
ately
66
PnACC
4 Positioning Completed Width
0 to
1073741824
1 reference unit 7
Immedi-
ately
67
PnACE
4 NEAR Signal Width
1 to
1073741824
1 reference unit 1073741824
Immedi-
ately
Adjustment
Related
Parameters
Note: When using parameters that are enabled after restarting the SERVOPACK, a CONFIG command must be input or
the power must be turned OFF and then ON again.
(cont’d)
Parameter
No.
Size Name Setting Range
Units
[Resolution]
Factory
Setting
When
Enabled
Classifica-
tion