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6.9 Compatible Adjustment Function
6-71
6.9.7 Position Integral
The position integral is the integral function of the position loop. It is used for the electronic cams and elec-
tronic shafts when using the SERVOPACK with YASKAWA MP900/2000 Machine Controllers.
Pn40D
2nd Notch Filter Q Value
Classification
Setting Range Setting Unit Factory Setting When Enabled
50 to 1000 0.01 70 Immediately
Tuning
Pn40E
2nd Notch Filter Depth
Classification
Setting Range Setting Unit Factory Setting When Enabled
0 to 1000 0.001 0 Immediately Tuning
• Sufficient precautions must be taken when setti
ng the notch filter frequencies. Do not
set the notch filter frequencies (Pn409 or Pn40C) that is close to the speed loop’s
response frequency. Set the frequencies at least four times higher than the speed
loop’s response frequency. Setting the notch filter frequency too close to the response
frequency may cause vibration and damage the machine.
• Change the notch filter frequencies (Pn409 or Pn
40C) only when the servomotor is
stopped. Vibration may occur if the notch filter frequency is changed when the servo-
motor is moving.
(cont’d)
Pn11F
Position Integral Time Constant
Classification
Setting Range Setting Unit Factory Setting When Enabled
0 to 50000 0.1 ms 0 Immediately Tuning
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