Yaskawa Sigma-5 Large Capacity Users Manual: Design and Maintenance-Rotary Motors-Mechatrolink-III Communication Reference - Manual (Page 358)

10.1 List of Parameters
10-9
10
Ap
pend
ix
Pn10B
2
Application Function for
Gain Select Switch
0000 to 5334 − 0000 − − − −
Pn10C 2
Mode Switch (torque refer-
ence)
0 to 800 1% 200 Immediately Tuning − 5.9.2
Pn10D 2
Mode Switch (speed refer-
ence)
0 to 10000 1 min -1 0 Immediately Tuning − 5.9.2
Pn10E 2 Mode Switch (acceleration) 0 to 30000 1 min -1 / s 0 Immediately Tuning − 5.9.2
Pn10F 2 Mode Switch (position error) 0 to 10000
1
reference
unit
0 Immediately Tuning − 5.9.2
Pn11F 2
Position Integral Time
Constant
0 to 50000 0.1 ms 0 Immediately Tuning − 5.8.7
Pn121 2 Friction Compensation Gain 10 to 1000 1% 100 Immediately Tuning − 5.8.2
Pn122 2
2nd Gain for Friction
Compensation
10 to 1000 1% 100 Immediately Tuning − 5.8.2
Pn123 2
Friction Compensation
Coefficient
0 to 100 1% 0 Immediately Tuning − 5.8.2
Pn124 2
Friction Compensation
Frequency Correction -10000 to
10000
0.1 Hz 0 Immediately Tuning − 5.8.2
Pn125 2
Friction Compensation Gain
Correction
1 to 1000 1% 100 Immediately Tuning − 5.8.2
Pn131 2 Gain Switching Time 1 0 to 65535 1 ms 0 Immediately Tuning − 5.8.1
Pn132 2 Gain Switching Time 2 0 to 65535 1 ms 0 Immediately Tuning − 5.8.1
Pn135 2
Gain Switching Waiting Time
1
0 to 65535 1 ms 0 Immediately Tuning − 5.8.1
Pn136 2
Gain Switching Waiting Time
2
0 to 65535 1 ms 0 Immediately Tuning − 5.8.1
(cont’d)
Parameter
No.
Size Name
Setting
Range
Units
Factory
Setting
When
Enabled
Classi-
fication
Profile
Reference
Section
Mode Switch Selection
When
Enabled
Classification
Reference
Section
0 Uses internal torque reference as the condition
(Level setting: Pn10C).
Immediately Setup 5.9.2
1 Uses speed reference as the condition (Level
setting: Pn10D).
2 Uses acceleration as the condition (Level setting:
Pn10E).
3 Uses position error as the condition (Level setting:
Pn10F).
4 No mode switch function available.
Speed Loop Control Method
When
Enabled
Classification
Reference
Section
0 PI control
After restart Setup − 1 I-P control
2 to 3 Reserved (Do not set.)
Reserved (Do not change.)
Reserved (Do not change.)
4th 3rd 2nd 1st
digit digit digit digit
n.