Yaskawa MP920 Motion Module - Manual (Page 280)

6.2 SVB-01 Parameters
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6.2.4 Σ Series SERVOPACK parameters
„ List of Parameters
No. Name Size Units Range Factory Setting
Cn-0001 Memory switch 1 2 bits 0380H
Cn-0002 Memory switch 2 2 bits 0000H
Cn-0003 Load inertia 2 % 0 to 65535 100
Cn-0004 Speed loop gain 2 0.1 Hz 1 to 20000 40.0
Cn-0005 Speed loop integration time constant 2 0.01 ms 100 to 65535 20.0
Cn-0006 Emergency stop torque 2 % 0 to max. max.
Cn-0007 Positioning proximity detection width 2 Reference units 0 to 10000 10
Cn-0008 Positive torque limit 2 % 0 to max. max.
Cn-0009 Negative torque limit 2 % 0 to max. max.
Cn-000A Reserved by system. 2 − − 0
Cn-000B Reserved by system. 2 − − 0000H
Cn-000C Mode switch: Torque reference 2 % 0 to 32767 200
Cn-000E Mode switch: Acceleration 2
0.167 r/s
2 0 to 3000 0
Cn-000F Mode switch: Error pulse 2 pulses 0 to 10000 0
Cn-0010 Reserved by system. 2 − − 0000H
Cn-0011 No. of encoder pulses 2 pulse/rev 513 to 32767 2048
Cn-0012 Brake timing for Servomotor stop (delay
from reference to SVOFF) 2 10 ms 0 to 50 0
Cn-0013 Memory switch 3 2 bits − 0000H
Cn-0014 Memory switch 4 2 bits − 0000H
Cn-0015 Brake timing with servomotor running
(output speed) 2
min -1 0 to max. 100
Cn-0016 Brake timing with servomotor running
(wait time) 2 10 ms 10 to 100 50
Cn-0017 Torque reference filter time constant 2 μs 0 to 25000 400
Cn-0018 Secondary torque reference filter time
constant 2 μs 0 to 25000 0
Cn-0019 Reserved by system. 2 − − 0000H
Cn-001A Position loop gain 2 0.01/s 1 to 50000 40.0
Cn-001B Positioning completed width 2 Reference units 0 to 250 7
Cn-001C Bias 2 100 reference
units/s 0 to max. 0
Cn-001D Feed forward compensation 2 % 0 to 100 0
Cn-001E Position error overflow range 2 Reference units 1 to 65535 65535
Cn-001F First level linear acceleration/deceleration
time constant 2 1,000 reference
units/s
2
0 to 65535 0
Cn-0020 Second level linear acceleration/decelera-
tion time constant 2 1,000 reference
units/s
2
0 to 65535 100