Yaskawa DR2 Sigma Servo - Manual (Page 480)

471
For Position Control
List of User Constants (User Constant Setting)
Category User
Constant
No.
Code Name Unit Lower
Limit
Upper
Limit
Factory
Setting
Remarks
Cn-00 Not a user constant. (Cn-00 is used to select special mode for digital operator.) See 4.1.3.
Cn-01 Memory switch (see on page 474.) See note 1
Cn-02 Memory switch (see on page 476.) See note 1
Gain
Related
Constants
Cn-04 LOOPHS Speed loop
gain
Hz 1 2000 80 See note 2
See 3.6.1,
3.6.2.
Cn-05 PITIME Speed loop
integration time
constant
0.01ms 2 10000 2000 See note 2
See 3.6.1,
3.6.2.
Cn-1A POSGN Position loop
gain
1/s 1 500 40 See note 2
See 3.6.1,
3.6.2.
Cn-1C BIASLV Bias r/min 0 450 0 See 3.6.5.
Cn-1D FFGN Feed-forward % 0 100 0 See 3.6.3.
Cn-26 ACCTME Position
reference
acceleration/de
celeration time
constant
100 µs 0 640 0 See 3.5.2.
Cn-27 FFFILT Feed-forward
reference filter
100 µs 0 640 0 See 3.6.3.
Torque
Related
Cn-06 EMGTRQ Emergency
stop torque
% 0 Max.
torque
Max.
torque
See 3.1.2.
e a ed
Constants Cn-08 TLMTF Forward
rotation torque
limit
% 0 Max.
torque
Max.
torque
See 3.1.3.
Cn-09 TLMTR Reverse
rotation torque
limit
% 0 Max.
torque
Max.
torque
See 3.1.3.
Cn-17 TRQFIL Torque
reference filter
time constant
100 µs 0 250 4 See 3.5.5.
Cn-18 CLMIF Forward
external torque
limit
% 0 Max.
torque
100 See 3.1.3.
Cn-19 CLMIR Reverse
external torque
limit
% 0 Max.
torque
100 See 3.1.3.
Sequence
Related
Cn-0B TGONLV Zero-speed
level
r/min 1 4500 20 See 3.7.5.
e a ed
Constants Cn-12 BRKTIM Time delay
from brake
reference until
servo OFF
10 ms 0 50 0 See 3.4.4.
Cn-15 BRKSPD Speed level for
brake reference
output during
motor operation
r/min 0 4500 100 See 3.4.4.
D
Positions