Yaskawa MP930 - Manual (Page 193)

Parameters
5.1.2 Parameter Lists
5 -8
J User Constants
No. Name Size Units Range Default Setting
Cn-0001 Memory switches 1 2 bits 0380H
Cn-0002 Memory switches 2 2 bits 0000H
Cn-0003 Load inertia 2 % 0-65535 100
Cn-0004 Speed loop gain 2 0.1 Hz 1-20000 400
Cn-0005 Speed loop integration time constant 2 0.01 ms 100-65535 2000
Cn-0006 Emergency stop torque 2 % 0-MAX MAX
Cn-0007 Positioning proximity detection width 2 Reference units 0-10000 10
Cn-0008 Positive torque limit 2 % 0-MAX MAX
Cn-0009 Negative torque limit 2 % 0-MAX MAX
Cn-000A Reserved by system. 2 − − 2048
Cn-000B Reserved by system. 2 − − 0000H
Cn-000C Mode switch: Torque reference 2 % 0-32767 200
Cn-000D Mode switch: Speed reference 2 r/min 0-32767 0
Cn-000E Mode switch: Acceleration 2 0.167 r/s 2 0-3000 0
Cn-000F Mode switch: Error pulse 2 pulses 0-10000 0
Cn-0010 Reserved by system. 2 − − 0000H
Cn-0011 No. of encoder pulses 2 P/R 513-32767 2048
Cn-0012 Brake timing for Servomotor stop (delay from
reference to SVOFF) 2 10 ms 0-50 0
Cn-0013 Memory switches 3 2 bits − 0000H
Cn-0014 Memory switches 4 2 bits − 0000H
Cn-0015 Brake timing with servomotor running: Refer-
ence output speed) 2 r/min 0-MAX 100
Cn-0016 Brake timing with servomotor running: Wait time
from SVOFF to reference) 2 10 ms 10-100 50
Cn-0017 Torque reference filter time constant 2 µs 0-25000 400
Cn-0018 Secondary torque reference filter time constant 2 µs 0-25000 0
Cn-0019 Reserved by system. 2 − − 0000H
Cn-001A Position loop gain 2 0.01/s 1-50000 4000
Cn-001B Positioning completed width 2 Reference units 0-250 7
Cn-001C Bias 2 100 reference
units/s 0-MAX 0
Cn-001D Feed forward compensation 2 % 0-100 0
Cn-001E Position error overflow range 2 Reference units 1-65535 65535
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