YASKAWA SGMPS - Page 375

11.2 List of Parameters
11-15
11
Appendix
Pn139
Automatic Gain Changeover Related
Switch 1
0000 to 0052 − 0000 Immediately Tuning −
Pn13D Current Gain Level 100 to 2000 1% 2000 Immediately Tuning 6.8.4
Pn140
Model Following Control Related
Switch
0000 to 1121 − 0100 Immediately Tuning −
Pn141 Model Following Control Gain 10 to 20000 0.1/s 500 Immediately Tuning −
Pn142
Model Following Control Gain Com-
pensation
500 to 2000 0.1% 1000 Immediately Tuning −
Parameter
No.
Name
Setting
Range
Units
Factory
Setting
When
Enabled
Classification
Reference
Section
0
1
2
Manual gain switching
Changes gain manually using external input signals (G-SEL)
Reserved (Do not change.)
Automatic gain switching pattern 1
Changes automatically 1st gain to 2nd gain when the switching condition A is satisfied.
Changes automatically 2nd gain to 1st gain when the switching condition A is not satisfied.
Gain Switching Selection Switch
(Refer to 6.8.6.)
4th
digit
3rd
digit
2nd
digit
1st
digit
n.
(Refer to 6.8.6.)
0
1
2
3
4
5
Positioning completion signal (/COIN) ON
Positioning completion signal (/COIN) OFF
NEAR signal (/NEAR) ON
NEAR signal (/NEAR) OFF
Position reference filter output = 0 and reference pulse input OFF
Position reference pulse input ON
Gain Switching Condition A
Reserved (Do not change.)
Reserved (Do not change.)
(Refer to 6.8.1)
(Refer to 6.8.1)
0
1
Does not use model following control.
Uses model following control.
Model Following Control Selection
4th
digit
3rd
digit
2nd
digit
1st
digit
n.
0
1
2
Does not perform vibration suppression.
Performs vibration suppression over the specified frequency.
Performs vibration suppression over two different kinds of frequencies.
Vibration Suppression Selection
0
1
Does not use model following control and speed/torque feedforward together.
Uses model following control and speed/torque feedforward together.
Selection of Speed Feedforward (VFF) / Torque Feedforward (TFF)
0
1
Does not adjust vibration suppression automatically using utility function.
Adjusts vibration suppression automatically using utility function.
Vibration Suppression Adjustment Selection
(Refer to 6.3.1, 6.4.1, 6.5.1 and 6.7.1)
(Refer to 6.3.1, 6.4.1)