YASKAWA VS-656MR5

Control Constants
10-8
10.2 Encoder Orientation Constants
The encoder orientation constants are listed in the following table.
Table 10.2 Encoder Orientation Constants
Con-
stant
No.
Name Explanation Change
*
1
Unit Standard
Setting
Upper
Limit/
Lower
Limit
C2 01
Load Shaft Position-
ing
Origin
Mechanical origin of the load shaft. Set difference from encoder ori-
gin
signal
(phase
C)
pulses
Y
es
Pulse
0
4095
C2-01
i
ng Or
i
g
i
n
P
ORG
g
i
ns
i
gna
l
(
p
h
ase C
)
pu
l
ses.
Yes Pulse 0
0
C2 02
Position Control
Proportional Gain
(H)
Position control proportional gain when high-speed gear is selected
(i.e., MGR and LGR are OFF) or when high-speed winding is se-
ld
(i
CHW
i
OFF)
Ii
K
i
i idi
Y
es
1/s
15
99
C2-02
p
(H)
K
PH
(,
)
gp
g
lected (i.e., CHW is OFF). Increasing K
PH
increases rigidity.
Speed reference (pps) = K
PH
× Position tolerance (pulses)
Yes 1/s 15
1
C2 03
Position Control
Proportional Gain
Position control proportional gain when medium-speed gear is se-
lected (i.e., MGR is ON). Increasing K
PM
increases rigidity.
Y
es
1/s
15
99
C2-03
Proportional
Gain
(M)
K
PM
lected
(i.e.,
MGR
is
ON).
Increasing
K
P
M
increases
rigidity
.
Speed reference (pps) = K
PM
× Position tolerance (pulses)
Yes 1/s 15
1
C2 04
Position Control
Proportional Gain
(L)
Position control proportional gain when low-speed gear is selected
(i.e., LGR is ON) or when low-speed winding is selected (i.e., CHW
i
ON)
Ii
K
i
i idi
Y
es
1/s
15
99
C2-04
p
(L)
K
PL
(,
)
p
g
(,
is ON). Increasing K
PL
increases rigidity.
Speed reference (pps) = K
PL
× Position tolerance (pulses)
Yes 1/s 15
1
C2 05
Speed Control Pro-
portional Gain (H)
K
Speed control proportional gain when high-speed gear is selected
(i.e., MGR and LGR are OFF) or when high-speed winding is se-
ld
(i
CHW
i
OFF)
i
ii
l
(i
OR
T
i
ON)
Y
es
%/Hz
40
255
C2-05
p
()
K
VHO
(,
)
gp
g
lected (i.e., CHW is OFF) in orientation control (i.e., ORT is ON).
Torque reference P = K
VHO
× Speed tolerance
Yes %/Hz 40
1
C2 06
Speed Control Inte-
gral Time Constant
(H)
Speed control integral time constant when high-speed gear is selected
(i.e., MGR and LGR are OFF) or when high-speed winding is se-
ld
(i
CHW
i
OFF)
i
ii
l
(i
OR
T
i
ON)
Y
es
ms
100
1000
C2-06
g
(H)
τ
VHO
(,
)
gp
g
lected (i.e., CHW is OFF) in orientation control (i.e., ORT is ON).
Torque reference I = Torque reference P × Time/τ
VHO
Yes ms 100
5
C2 07
Speed Control Pro-
portional Gain (M,
L)
Speed control proportional gain when low-speed gear is selected (i.e.,
MGR or LGR is ON) or when high-speed winding is selected (i.e.,
CHW
i
ON)
i
ii
l
(i
OR
T
i
ON)
Y
es
%/Hz
40
255
C2-07
p
(,
L)
K
VLO
)
gp
g
(,
CHW is ON) in orientation control (i.e., ORT is ON).
Torque reference P = K
VLO
× Speed tolerance
Yes %/Hz 40
1
C2 08
Speed Control Inte-
gral Time Constant
(M
L)
Speed control integral time constant when low-speed gear is selected
(i.e., MGR or LGR is ON) or when low-speed winding is selected
(i
CHW
i
ON)
i
ii
l
(i
OR
T
i
ON)
Y
es
ms
100
1000
C2-08
g
(M, L)
τ
VLO
(,
)
p
g
(i.e., CHW is ON) in orientation control (i.e., ORT is ON).
Torque reference I = Torque reference P × Time/τ
VLO
Yes ms 100
5
C2 09
Positioning Comple-
tion
Detection
W
idth
Detection width for outputting completion signal when the load shaft
approaches
the
stop
reference
position
Detection
width
is
stop
refer
No
Pulse
5
200
C2-09
t
i
on Detect
i
on W
id
t
h
Z
FIN
approac
h
es t
h
e stop reference pos
i
t
i
on. Detect
i
on w
id
t
h
i
s stop refer-
ence position ±Z
FIN.
No Pulse 5
0
C2 10
Positioning Comple-
tion
Cancel
W
idth
Set value for canceling completion signal when the load shaft is
moved
after
completion
signal
is
output
Cancel
width
is
stop
refer
No
Pulse
10
200
C2-10
t
i
on Cance
l
W
id
t
h
Z
CAN
move
d
after comp
l
et
i
on s
i
gna
l
i
s output. Cance
l
w
id
t
h
i
s stop refer-
ence position ±Z
CAN.
No Pulse 10
Z
FIN
C2 1
1
Orientation Speed
S
Speed applied (after detecting encoder origin) until changing to the
servo
loop
during
orientation
No
min
−
1
400
600
C2-11
S
ORT
servo loop during orientation.
No min
−
1
400
40
C2 12
BCD Stop Position
Reference
Resolu
Angle set value per minimum increment of stop position BCD com-
mand
No
Deg
10
180.0
C2-12
Reference Reso
l
u-
tion P
BCD
man
d
.
No Deg. 1.0
0.5
C2 13
Virtual Stop
Position
Of
fset
Stop position offset for smoothing stop operation when the servo loop
is
used
When
Z
F
I
N
is
reached
of
fset
becomes
0
No
Pulse
0
100
C2-13
Pos
i
t
i
on Offset
P
IMG
i
s use
d
.W
h
en Z
FIN
i
s reac
h
e
d
, offset
b
ecomes 0.
No Pulse 0
0
C2 14
Orientation Speed
Changing
Ratio
Speed changing ratio for gradually reducing orientation speed to
reduce
gear
noise
when
switching
from
orientation
speed
to
servo
No
0
100
C2-14
C
h
ang
i
ng Rat
i
o
R
SOR
re
d
uce gear no
i
se w
h
en sw
i
tc
hi
ng from or
i
entat
i
on spee
d
to servo
loop speed.
No --- 0
0
C2 15
Starting Soft Start
T
ime
Soft start time for accelerating from at rest state to orientation speed.
Use
this
parameter
to
reduce
gear
noise
at
starting
Acceleration
rate
No
ms
0
50
C2-15
T
i
me
T
SFO
Use t
hi
s parameter to re
d
uce gear no
i
se at start
i
ng. Acce
l
erat
i
on rate
is (500 min
−1
)/sec.
No ms 0
0
10