YASKAWA SIGMA-7 Series

7.2 List of Servo Parameters
7-13
7
Parameter Lists
Pn139
2
Automatic Gain Switch-
ing Selections 1
0000h
to
0052h
– 0000h All
Immedi-
ately
Tuning
*1
Pn13D 2 Current Gain Level 100 to 2,000 1% 2000 All
Immedi-
ately
Tuning
*1
Pn140
2
Model Following Con-
trol-Related Selections
0000h
to
1121h
– 0100h All
Immedi-
ately
Tuning –
Pn141 2
Model Following Con-
trol Gain
10 to 20,000 0.1/s 500 All
Immedi-
ately
Tuning
*1
Pn142 2
Model Following Con-
trol Gain Correction
500 to 2,000 0.1% 1000 All
Immedi-
ately
Tuning
*1
Pn143 2
Model Following Con-
trol Bias in the Forward
Direction
0 to 10,000 0.1% 1000 All
Immedi-
ately
Tuning
*1
Continued on next page.
Continued from previous page.
Parameter
No.
Size
Name
Setting
Range
Setting
Unit
Default
Setting
Applicable
Motors
When
Enabled
Classi-
fication
Refer-
ence
n.X
Gain Switching Selection
0
Use manual gain switching.
The gain is switched manually with G-SEL in the servo command output sig-
nals (SVCMD_IO).
1 Reserved setting (Do not use.)
2
Use automatic gain switching pattern 1.
The gain is switched automatically from the first gain to the second gain when
switching condition A is satisfied. The gain is switched automatically from the
second gain to the first gain when switching condition A is not satisfied.
n.X
Gain Switching Condition A
0 /COIN (Positioning Completion Output) signal turns ON.
1 /COIN (Positioning Completion Output) signal turns OFF.
2 /NEAR (Near Output) signal turns ON.
3 /NEAR (Near Output) signal turns OFF.
4 Position reference filter output is 0 and position reference input is OFF.
5 Position reference input is ON.
n.X Reserved parameter (Do not change.)
n.X Reserved parameter (Do not change.)
n.X
Model Following Control Selection Reference
0 Do not use model following control.
*1
1 Use model following control.
n.X
Vibration Suppression Selection Reference
0 Do not perform vibration suppression.
*1
1 Perform vibration suppression for a specific frequency.
2 Perform vibration suppression for two specific frequencies.
n.X
Vibration Suppression Adjustment Selection Reference
0
Do not adjust vibration suppression automatically during execu-
tion of autotuning without a host reference, autotuning with a
host reference, and custom tuning.
*1
1
Adjust vibration suppression automatically during execution of
autotuning without a host reference, autotuning with a host ref-
erence, and custom tuning.
n.X
Speed Feedforward (VFF)/Torque Feedforward (TFF) Selection Reference
0
Do not use model following control and speed/torque feedfor-
ward together.
*1
1
Use model following control and speed/torque feedforward
together.