Yaskawa Σ-V Series AC Servo Drives Rotational Motor MECHATROLINK-III - Manual (Page 317)

9.1 List of Parameters
9-35
9
Ap
pend
ix
49
PnA92
4
Compliance Unit System (read only) – –
0601011FH –
Unit System
Related
Parameters
Speed
Bit 0 reference unit/s (1: Enabled)
Bit 1 reference unit/min (1: Enabled)
Bit 2 Percentage (%) of rated speed (1: Enabled)
Bit 3 min -1 (rpm) (1: Enabled)
Bit 4 Max. motor speed/4000000H [HEX] (1: Enabled)
Bit
5 to 7
Reserved (0: Disabled)
Position
Bit 8 reference unit (1: Enabled)
Bit
9 to 15
Reserved (0: Disabled)
Acceleration
Bit 16 reference unit/s
2
(1: Enabled)
Bit 17
msec (Acceleration time taken to reach the rated speed)
(0: Disabled)
Bit
18 to 23
Reserved (0: Disabled)
Torque
Bit 24 N m (N) (0: Disabled)
Bit 25 Percentage (%) of rated torque (1: Enabled)
Bit 26 Max. torque/40000000 [HEX] (1: Enabled)
Bit
27 to 31 Reserved (0: Disabled)
61
PnAC2
4 Speed Loop Gain
1000 to
2000000
0.001 Hz
[0.1 Hz]
40000
Immedi-
ately
Adjustment
Related
Parameters
62
PnAC4
4 Speed Loop Integral Time Constant 150 to 512000
μ s
[0.01 ms]
20000
Immedi-
ately
63
PnAC6
4 Position Loop Gain
1000 to
2000000
0.001/s
[0.1/s]
40000
Immedi-
ately
64
PnAC8
4 Feedforward Compensation 0 to 100 1% 0
Immedi-
ately
65
PnACA
4
Position Loop Integral Time Con-
stant
0 to 5000000
μ s
[0.1 ms]
0
Immedi-
ately
66
PnACC
4 Positioning Completed Width
0 to
1073741824
1 reference unit 7
Immedi-
ately
67
PnACE
4 NEAR Signal Width
1 to
1073741824
1 reference unit 1073741824
Immedi-
ately
Adjustment
Related
Parameters
Parameter
No.
Size Name Setting Range
Units
[Resolution]
Factory
Setting
When
Enabled
Classifica-
tion