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

Page 306

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10.1 List of Parameters

10-9

Appendix

Pn139

Automatic Gain Changeover Related

Switch 1

0000 to 0052

0000

Immediately

Tuning

Pn13D

Current Gain Level

100 to 2000

1%

2000

Immediately

Tuning

5.8.4

Pn140

Model Following Control Related
Switch

0000 to 1121

0100

Immediately

Tuning

Pn141

Model Following Control Gain

10 to 20000

0.1/s

500

Immediately

Tuning

Pn142

Model Following Control Gain Com-
pensation

500 to 2000

0.1%

1000

Immediately

Tuning

∗1. For details on this function, refer to the manual of the connected command option module.

(cont’d)

Parameter

No.

Name

Setting

Range

Units

Factory

Setting

When

Enabled

Classification Reference

Section

0

1

2

Manual gain switching
Switches between 1st gain and 2nd gain using the gain switching reference from the command option module.

Reserved (Do not change.)

Automatic gain switching pattern 1
Changes automatically 1st gain to 2nd gain when the switching condition A is satisfied.
Changes automatically 2nd gain to 1st gain when the switching condition A is not satisfied.

Gain Switching Selection Switch

*1

4th
digit

3rd
digit

2nd
digit

1st
digit

n.

0

1

2

3

4

5

Positioning completion signal (/COIN) ON

Positioning completion signal (/COIN) OFF

NEAR signal (/NEAR) ON

NEAR signal (/NEAR) OFF

Position reference filter output = 0 and reference input OFF

Position reference input ON

Gain Switching Condition A

Reserved (Do not change.)

Reserved (Do not change.)

(Refer to 5.8.1)

(Refer to 5.8.1)

0

1

Does not use model following control.

Uses model following control.

Model Following Control Selection

4th
digit

3rd
digit

2nd
digit

1st
digit

n.

0

1

2

Does not perform vibration suppression.

Performs vibration suppression over the specified frequency.

Performs vibration suppression over two different kinds of frequencies.

Vibration Suppression Selection

0

1

Does not use model following control and speed/torque feedforward together.

Uses model following control and speed/torque feedforward together.

Selection of Speed Feedforward (VFF) / Torque Feedforward (TFF)

0

1

Does not adjust vibration suppression automatically using utility function.

Adjusts vibration suppression automatically using utility function.

Vibration Suppression Adjustment Selection

(Refer to 5.3.1, 5.4.1, 5.5.1, 5.7.1)

(Refer to 5.3.1, 5.4.1)