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

Page 340

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10 Appendix

10.1.2 Parameters

10-10

Pn140

2

Model Following Control
Related Switch

0000 to 1121

0100

Immediately

Tuning

Pn141

2

Model Following Control Gain 10 to 20000

0.1/s

500

Immediately

Tuning

Pn142

2

Model Following Control Gain

Compensation

500 to 2000

0.1%

1000

Immediately

Tuning

Pn143

2

Model Following Control Bias
(Forward Direction)

0 to 10000

0.1%

1000

Immediately

Tuning

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 Feedforward
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 Compensation

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

(cont’d)

Parameter

No.

Size

Name

Setting

Range

Units

Factory

Setting

When

Enabled

Classification

Reference

Section

Model Following Control Selection

0

Does not use model following control.

1

Uses model following control.

Vibration Suppression Selection

0

Does not perform vibration suppression.

1

Performs vibration suppression over the specified frequency.

2

Performs vibration suppression over two different kinds of frequencies.

Vibration Suppression Adjustment Selection

Reference

Section

0

Does not adjust vibration suppression automatically using utility function.

5.3.1, 5.4.1,

5.5.1, 5.7.1

1

Adjusts vibration suppression automatically using utility function.

Selection of Speed Feedforward (VFF) / Torque Feedforward (TFF)

Reference

Section

0

Does not use model following control and speed/torque feedforward together.

5.3.1, 5.4.1

1

Uses model following control and speed/torque feedforward together.

4th 3rd 2nd 1st

digit digit digit digit

n.

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