Yaskawa MotionWorks+ Windows Software User Manual
Page 22
The Project Explorer
MotionWorks+™
16
Pn102
40
1
2000
Position Loop Gain in 1/s. This parameter is not applicable
when using MP940. See section 6.2.1 of SGDH manual.
Pn103
100
0
10000 Inertia Ratio in percentage. See sections 6.2.1 and 6.3.3 of
SGDH manual.
Pn104
40
1
2000
2nd Speed Loop Gain in Hz. This parameter is switchable with
Pn100 based on user input. This is an important component of
servo tuning, this parameter acts as the derivative gain. See
section 6.2.1 of SGDH manual.
Pn105
2000
15
51200 2nd Speed Loop Integral Time Constant in 0.01 ms. This
parameter is switchable with Pn101. This is an important com-
ponent of servo tuning. See section 6.2.1 of SGDH manual.
Pn106
40
1
2000
2nd Position Loop Gain in 1/s. This parameter is not applicable
when using MP940. See section 6.2.1 of SGDH manual.
Pn107
0
0
450
Bias in rpm. See section 6.2.4 of SGDH manual.
Pn108
7
0
250
Bias Width Addition in reference units. See section 6.2.4 of
SGDH manual.
Pn109
0
0
100
Feed Forward in percentage. This parameter is not applicable
when MP940 is used. Use pGain_FeedForward. See section
6.2.2 of SGDH manual.
Pn10A
0
0
6400
Feed-forward Filter Time Constant in 0.01ms. This parameter
is not applicable when MP940 is used. See section 5.2.5 of
SGDH manual.
Pn10B
0004
0000
2014
Gain-related Application Switches. See section 6.2.5 of SGDH
manual.
Pn10C
200
0
800
Mode Switch Torque Reference in percentage. See section
6.2.5 of SGDH manual.
Pn10D
0
0
10000 Mode Switch Speed Reference in rpm. See section 6.2.5 of
SGDH manual.
Pn10E
0
0
3000
Mode Switch Acceleration in 10rpm/s. See section 6.2.5 of
SGDH manual.
Pn10F
0
0
10000 Mode Switch Error Pulse in reference units. This parameter is
not applicable when using MP940. See section 6.2.5 of SGDH
manual.
Pn110
0012
0000
2014
Online Autotuning Switches. See section 6.3.4 of SGDH man-
ual.
Pn111
100
1
100
Speed Feedback Compensation in percentage. See section
6.2.6 of SGDH manual.
Pn200
0
0
1239
Position Control Reference Selection Switches. This parameter
is not applicable when using MP940. See section 5.2.2 of
SGDH manual.
Pn201
16384
16
16384 PG Divider in pulses per revolution. This parameter is not
applicable when using MP940. See section 5.2.3 of SGDH
manual.
Pn202
16384
16
16384 Electronic Gear Ratio (Denominator). This parameter is not
applicable when using MP940. See section 5.2.5 of SGDH
manual.
Property
Default
Min
Max
Details (online Help message)