YASKAWA CACR-JU series - Page 311

12.1 SERVOPACK Parameters
12-11
Appendix
21
Pn121
(2067h:1)
2
Friction Compensation
Gain
10 to 1000 1% 100
Immedi-
ately
Tuning
spindle
motor,
servo-
motor
–
Pn123
(2067h:3)
2
Friction Compensation
Coefficient
0 to 100 1% 0
Immedi-
ately
Tuning
spindle
motor,
servo-
motor
–
Pn124
(2067h:4)
2
Friction Compensation
Frequency Correction
-10000 to
10000
0.1 Hz 0
Immedi-
ately
Tuning
spindle
motor,
servo-
motor
–
Pn125
(2067h:5)
2
Friction Compensation
Gain Correction
1 to 1000 1% 100
Immedi-
ately
Tuning
spindle
motor,
servo-
motor
–
Pn12B
(2042:1)
23rd Speed Loop Gain 10 to 200000.1 Hz 400
Immedi-
ately
Tuning
spindle
motor,
servo-
motor
–
Pn12C
(2042h:2)
2
3rd Speed Loop Integral
Time Constant
15 to 51200
0.01
ms
2000
Immedi-
ately
Tuning
spindle
motor,
servo-
motor
–
Pn12D
(2042h:3)
23rd Position Loop Gain 10 to 20000 0.1/s 400
Immedi-
ately
Tuning
spindle
motor,
servo-
motor
–
Pn12E
(2043h:1)
24rd Speed Loop Gain 10 to 200000.1 Hz 400
Immedi-
ately
Tuning
spindle
motor,
servo-
motor
–
Pn12F
(2043h:2)
2
4rd Speed Loop Integral
Time Constant
15 to 51200
0.01
ms
2000
Immedi-
ately
Tuning
spindle
motor,
servo-
motor
–
Pn130
(2043h:3)
24rd Position Loop Gain 10 to 20000 0.1/s 400
Immedi-
ately
Tuning
spindle
motor,
servo-
motor
–
Pn140
(206Ah:1)
2
Model Following
Control Related Switch
0000 to 1121 − 0100
Immedi-
ately
Tuning
spindle
motor,
servo-
motor
−
(cont’d)
Parameter
No.
(Index No.)
Size Name
Setting
Range
Units
Factory
Setting
When
Enabled
Classification
Motor
Type
Reference
Section
Reserved (Do not change.)
Reserved (Do not change.)
Reserved (Do not change.)
Selection of Speed Feedforward (VFF) / Torque Feedforward (TFF)
0 Does not use model following control and speed/torque feedforward together.
1 Uses model following control and speed/torque feedforward together.
4th 3rd 2nd 1st
digit digit digit digit
n.
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