Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 442)

11.7 Precautions for the Use of SGDV SERVOPACKs
11.7.1 Software Limit Settings
11-27
Utility Functions
11.7 Precautions for the Use of SGDV SERVOPACKs
11.7.1 Software Limit Settings
Use the software limit setting of the Machine Controller, not that of the SGDV SERVOPACK.
11.7.2 When the Tuning-less Function is Enabled
In SGDV SERVOPACKs, Pn170.0 is set to 1 (default setting) and the tuning-less function is enabled. Any actions
related to the settings of gain-related parameters are disabled.
( 1 ) Gain Related Settings
The related servo parameters are changed when the User Constants Self-Writing Function of Function Selection Flag 1
(fixed parameter) is enabled and the following parameters are changed. The settings, however, do not affect actual
operations.
( 2 ) Gain-related Motion Commands
The related servo parameters are changed in accordance with the results obtained by executing the following motion
commands.
The settings, however, do not affect actual operations.
( 3 ) Gain Switching
Even if the setting for Mode Setting 1of the Gain Switch is changed, this setting does not affect actual operations.
11.7.3 Saving the Parameter Bank Data
When using the Parameter Bank function, the Bank data (Pn920 to Pn95F) is not saved in the nonvolatile memory.
These parameters must always be reset if using a MECHATROLINK network between the Motion Controller and the
SERVOPACK.
If these parameters are set to 0 and have not been changed, the Parameter Bank function operates in accordance with
the minimum value of each parameter.
Register no. Name Setting range Default value Meaning
OW 2E Position Loop Gain 0 to 32767 300 1 = 0.1/s
OW 2F Speed Loop Gain 1 to 2000 40 1 = 1 Hz
OW 30 Speed Feed Forward Amends 0 to 32767 0 1 = 0.01%
OW 32 Position Integration Time Constant 0 to 32767 0 1 = 1 ms
OW 34 Speed Integration Time Constant 15 to 65535 0 1 = 0.01 ms
Register no. Setting Meaning
OW 08
14 Change Speed Loop Gain (KVS)
15 Change Position Loop Gain (KPS)
16 Change Feed-forward (KFS)
26 Change Position Loop Integral Time Constant (KIS)
Register no. Name Meaning Remark
OW 01 Mode Setting 1 Bit 4: Gain Switch 0: OFF, 1: ON