Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors User Manual
Page 305

10 Appendix
10.1.2 Parameters
10-8
Pn100
Speed Loop Gain
10 to 20000
0.1 Hz
400
Immediately
Tuning
5.8.1
Pn101
Speed Loop Integral Time Constant
15 to 51200
0.01 ms
2000
Immediately
Tuning
Pn102
Position Loop Gain
10 to 20000
0.1/s
400
Immediately
Tuning
Pn103
Moment of Inertia Ratio
0 to 20000
1%
100
Immediately
Tuning
Pn104
2nd Speed Loop Gain
10 to 20000
0.1 Hz
400
Immediately
Tuning
Pn105
2nd Speed Loop Integral Time Con-
stant
15 to 51200
0.01 ms
2000
Immediately
Tuning
Pn106
2nd Position Loop Gain
10 to 20000
0.1/s
400
Immediately
Tuning
Pn109
Feedforward Gain
0 to 100
1%
0
Immediately
Tuning
5.9.1
Pn10A
Feedforward Filter Time Constant
0 to 6400
0.01 ms
0
Immediately
Tuning
Pn10B
Application Function for Gain Select
Switch
0000 to
5334
−
0000
−
−
−
Pn10C
Mode Switch (torque reference)
0 to 800
1%
200
Immediately
Tuning
5.9.2
Pn10D
Mode Switch (speed reference)
0 to 10000
1 min
-1
0
Immediately
Tuning
Pn10E
Mode Switch (acceleration)
0 to 30000
1 min
-1
/ s
0
Immediately
Tuning
Pn10F
Mode Switch (position error pulse)
0 to 10000
1 refer-
ence unit
0
Immediately
Tuning
Pn11F
Position Integral Time Constant
0 to 50000
0.1 ms
0
Immediately
Tuning
5.9.4
Pn121
Friction Compensation Gain
10 to 1000
1%
100
Immediately
Tuning
5.8.2
Pn122
2nd Gain for Friction Compensation
10 to 1000
1%
100
Immediately
Tuning
Pn123
Friction Compensation Coefficient
0 to 100
1%
0
Immediately
Tuning
Pn124
Friction Compensation Frequency
Correction
-10000 to
10000
0.1 Hz
0
Immediately
Tuning
Pn125
Friction Compensation Gain Correc-
tion
1 to 1000
1%
100
Immediately
Tuning
Pn131
Gain Switching Time 1
0 to 65535
1 ms
0
Immediately
Tuning
5.8.1
Pn132
Gain Switching Time 2
0 to 65535
1 ms
0
Immediately
Tuning
Pn135
Gain Switching Waiting Time 1
0 to 65535
1 ms
0
Immediately
Tuning
Pn136
Gain Switching Waiting Time 2
0 to 65535
1 ms
0
Immediately
Tuning
(cont’d)
Parameter
No.
Name
Setting
Range
Units
Factory
Setting
When
Enabled
Classification Reference
Section
0
1
2
3
4
Uses internal torque reference as the condition (Level setting: Pn10C)
Uses speed reference as the condition (Level setting: Pn10D)
Uses acceleration as the condition (Level setting: Pn10E)
Uses position error pulse as the condition (Level setting: Pn10F)
No mode switch function available
Mode Switch Selection
Reserved (Do not change.)
4th
digit
3rd
digit
2nd
digit
1st
digit
n.
Immediately
When
Enabled
0
1
2 and 3
PI control
I-P control
Reserved (Do not change.)
Speed Loop Control Method
After restart
When
Enabled
Reserved (Do not change.)
Setup
Classification
Setup
Classification
(Refer to 5.9.2)