YASKAWA Sigma-7 SGD7S Series - Page 392

You can use gain switching for either PI control or I-P control (Pn10B =
n.  0  or  1  ).
Speed Loop Gain
Setting
Range
Setting Unit Default Set-
ting
When Ena-
bled
Classifica-
tion
Pn100 10 to 20,000 0.1 Hz 400 Immediately Tuning
(applies to Speed Control and Position Control)
Speed Loop Integral Time Constant
Setting
Range
Setting Unit Default Set-
ting
When Ena-
bled
Classifica-
tion
Pn101 15 to 51,200 0.01 ms 2,000 Immediately Tuning
(applies to Speed Control and Position Control)
Position Loop Gain
Setting
Range
Setting Unit Default Set-
ting
When Ena-
bled
Classifica-
tion
Pn102 10 to 20,000 0.1/s 400 Immediately Tuning
(applies to Position Control)
First Stage First Torque Reference Filter Time Constant
Setting
Range
Setting Unit Default Set-
ting
When Ena-
bled
Classifica-
tion
Pn401 0 to 65,535 0.01 ms 100 Immediately Tuning
(applies to Speed Control, Position Control and Torque Control)
Friction Compensation Gain
Setting
Range
Setting Unit Default Set-
ting
When Ena-
bled
Classifica-
tion
Pn121 10 to 1,000 1% 100 Immediately Tuning
(applies to Speed Control and Position Control)
Second Speed Loop Gain
Setting
Range
Setting Unit Default Set-
ting
When Ena-
bled
Classifica-
tion
Pn104 10 to 20,000 0.1 Hz 400 Immediately Tuning
(applies to Speed Control and Position Control)
Related Parameters
Sigma-7 Series SERVOPACKs
Tuning
Additional Adjustment Functions > Gain Switching
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