YASKAWA SGD7S-*A20**F62 Series Product Manual

Contents

6.2 List of Servo Parameters6-136 Parameter ListsPn10B2 Gain Application Selec-tions0000 to5334 – 0000 All – Setup *1Pn10C 2 Mode Switching Levelfor Torque Reference 0 to 800 1% 200 All Immedi-ately Tuning *1Pn10D 2 Mode Switching Levelfor Speed Reference 0 to 10,000 1 min -1 0 Rotary Immedi-ately Tuning *1Pn10E 2 Mode Switching Levelfor Acceleration 0 to 30,000 1 min -1 /s 0 Rotary Immedi-ately Tuning *1Pn10F 2 Mode Switching Levelfor Position Deviation 0 to 10,0001 refer-enceunit0 All Immedi-ately Tuning *1Pn11F 2 Position Integral TimeConstant 0 to 50,000 0.1 ms 0 All Immedi-ately Tuning *1Pn121 2 Friction CompensationGain 10 to 1,000 1% 100 All Immedi-ately Tuning *1Pn122 2 Second Friction Com-pensation Gain 10 to 1,000 1% 100 All Immedi-ately Tuning *1Pn123 2 Friction CompensationCoefficient 0 to 100 1% 0 All Immedi-ately Tuning *1Pn124 2 Friction CompensationFrequency Correction-10,000 to10,000 0.1 Hz 0 All Immedi-ately Tuning *1Pn125 2 Friction CompensationGain Correction 1 to 1,000 1% 100 All Immedi-ately Tuning *1Pn131 2 Gain Switching Time 1 0 to 65,535 1 ms 0 All Immedi-ately Tuning *1Pn132 2 Gain Switching Time 2 0 to 65,535 1 ms 0 All Immedi-ately Tuning *1Pn135 2 Gain Switching WaitingTime 1 0 to 65,535 1 ms 0 All Immedi-ately Tuning *1Pn136 2 Gain Switching WaitingTime 2 0 to 65,535 1 ms 0 All Immedi-ately Tuning *1Continued on next page.Continued from previous page.ParameterNo.SizeName SettingRangeSettingUnitDefaultSettingApplicableMotorsWhenEnabledClassi-ficationRefer-encen.XMode Switching Selection WhenEnabled0 Use the internal torque reference as the condition (level setting:Pn10C).Immedi-ately1 Use the speed reference as the condition (level setting: Pn10D).Use the speed reference as the condition (level setting: Pn181).2Use the acceleration reference as the condition (level setting:Pn10E).Use the acceleration reference as the condition (level setting:Pn182).3 Use the position deviation as the condition (level setting: Pn10F).4 Do not use mode switching.n.XSpeed Loop Control Method WhenEnabled0 PI controlAfterrestart1 I-P control2 and 3 Reserved settings (Do not use.)n.X Reserved parameter (Do not change.)n.X Reserved parameter (Do not change.)