Yaskawa MP2200 Machine Controller - Manual (Page 372)

6 Control Block Diagrams
6.1.3 Torque Control
6-16
（ Note） : These parameters are ignored.
OW††2E Position Loop Gain 0.1 /s 300 0 to 32767
OW††2F Speed Loop Gain Hz 40 1 to 2000
OW††30 Speed Feed Forward Compensation 0.01% 0 0 to 32767
OW††31 Speed Amends 0.01% 0 -32768 to 32767
OW††32 Position Integration Time Constant ms 0 0 to 32767
OW††34 Speed Integration Time Constant 0.01 ms 2000 15 to 65535
OL††36 Linear Acceleration Time
Depends on acceleration/
deceleration speed unit.
0 0 to 2 31 −1
OL††38 Linear Deceleration Time
Depends on acceleration/
deceleration speed unit.
0 0 to 2 31 −1
OW††3A S-curve Acceleration Time 0.1 ms 0 0 to 65535
OW††3C Home Return Type − 0 0 to 19
OW††3D Home Window Reference unit 100 0 to 65535
OL††3E Approach Speed Depends on speed unit. 1000 −2 31 to 2 31 −1
OL††40 Creep Speed Depends on speed unit. 500 −2 31 to 2 31 −1
OL††42 Home Offset Reference unit 0 −2 31 to 2 31 −1
OL††44 Step Distance Reference unit 1000 0 to 2 31 −1
OL††46 External Positioning Move Distance Reference unit 0 −2 31 to 2 31 −1
OL††48 Zero Point Offset Reference unit 0 −2 31 to 2 31 −1
OL††4A Work Coordinate System Offset Reference unit 0 −2 31 to 2 31 −1
OL††4C Preset Data of POSMAX Turn Rev 0 −2 31 to 2 31 −1
OW††4E Servo User Monitor − 0E00H Bit setting
OW††4F Servo Alarm Monitor Number − 0 0 to 10
OW††50 Servo Constant Number − 0 0 to 65535
OW††51 Servo Constant Number Size − 1 1, 2
OL††52 Servo User Constant − 0 −2 31 to 2 31 −1
OW††54 Auxiliary Servo User Constant Number − 0 0 to 65535
OW††55 Auxiliary Servo Constant Number Size − 1 1, 2
OL††56 Auxiliary Servo User Constant − 0 −2 31 to 2 31 −1
OW††5C Fixed Parameter Number − 0 0 to 65535
OL††5E Absolute Position at Power OFF (Low Value) pulse 0 −2 31 to 2 31 −1
OL††60 Absolute Position at Power OFF (High Value) pulse 0 −2 31 to 2 31 −1
OL††62 Modularized Position at Power OFF (Low Value) pulse 0 −2 31 to 2 31 −1
OL††64 Modularized Position at Power OFF (High Value) pulse 0 −2 31 to 2 31 −1
(cont’d)
No. Name Setting Unit Default Value Setting Range