4 position integral – Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - MECHATROLINK-II Communications Reference User Manual

Page 227

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5 Adjustments

5.9.4 Position Integral

5-74

5.9.4 Position Integral

The position integral is the integral function of the position loop. It is used for the electronic cams and elec-

tronic shafts when using the SERVOPACK with YASKAWA MP900/2000 Machine Controllers.

Pn40D

2nd Notch Filter Q Value

Classification

Setting Range

Setting Unit

Factory Setting

When Enabled

50 to 1000

0.01

70

Immediately

Tuning

Pn40E

2nd Notch Filter Depth

Classification

Setting Range

Setting Unit

Factory Setting

When Enabled

0 to 1000

0.001

0

Immediately

Tuning

• Sufficient precautions must be taken when setting the notch filter frequencies. Do not

set the notch filter frequencies (Pn409 or Pn40C) that is close to the speed loop’s
response frequency. Set the frequencies at least four times higher than the speed
loop’s response frequency. Setting the notch filter frequency too close to the response
frequency may cause vibration and damage the machine.

• Change the notch filter frequencies (Pn409 or Pn40C) only when the servomotor is

stopped. Vibration may occur if the notch filter frequency is changed when the servo-
motor is rotating.

(cont’d)

Speed

Position

Torque

Speed

Position

Torque

Pn11F

Position Integral Time Constant

Classification

Setting Range

Setting Unit

Factory Setting

When Enabled

0 to 50000

0.1 ms

0

Immediately

Tuning

Position

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