YASKAWA VS-656MR5

10.3 Magnetic Sensor Orientation Constants
10-11
10.3 Magnetic Sensor Orientation Constants
The magnetic sensor orientation constants are listed in the following table.
Table 10.3 Magnetic Sensor Orientation Constants
Con-
stant
No.
Name Explanation Change
*
1
Unit Standard
Setting
Upper
Limit/
Lower
Limit
C3 01
Load Shaft Position-
ing
Origin
Mechanical origin of the load shaft. Set difference from magnetic
sensor
signal
in
degrees
Y
es
Deg
000
2.00
C3-01
i
ng
O
r
i
g
i
n
P
ORG
sensor s
i
gna
l
i
n
d
egrees.
Yes Deg. 0.00
−2.00
C3 02
Position Control Pro-
portional Gain (H)
K
P
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-
lected
(
i.e.
,
CHW is OFF
)
.
Y
es
1/sec
15
99
C3-02
K
PH
lected
(i
.
e
.,
CHW
is
OFF)
.
Increasing K
PH
increases rigidity.
Speed reference (pps) = K
PH
× Position tolerance (pulses)
Yes 1/sec 15
1
C3 03
Position Control Pro-
portional Gain (M)
Position control proportional gain when medium-speed gear is se-
lected (i.e., MGR is ON). Increasing K
PM
increases rigidity.
Y
es
1/sec
15
99
C3-03
p
()
K
PM
(,
)
g
P
M
gy
Speed reference (pps) = K
PM
× Position tolerance
(pulses)
Yes 1/sec 15
1
C3 04
Position Control Pro-
portional Gain (L)
K
P
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
is ON
)
.
Y
es
1/sec
15
99
C3-04
K
PL
is
ON)
.
Increasing K
PL
increases rigidity.
Speed reference (pps) = K
PL
× Position tolerance (pulses)
Yes 1/sec 15
1
C3 05
Speed Control Pro-
portional Gain (H)
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
C3-05
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
C3 06
Speed Control Inte-
gral Time Constant
(H)
Speed control integral time constant when high-speed gear is se-
lected (i.e., MGR and LGR are OFF) or when high-speed winding is
ld
(i
CHW
i
OFF)
i
ii
l
(i
OR
T
i
ON)
Y
es
ms
100
1000
C3-06
g
(H)
τ
VHO
(,
)
gp
g
selected (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
C3 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 low-speed winding is selected
(i
CHW
i
ON)
i
ii
l
(i
OR
T
i
ON)
Y
es
%/Hz
40
255
C3-07
p
(,
)
K
VLO
(,
)
p
g
(i.e., CHW is ON) in orientation control (i.e., ORT is ON).
Torque reference P = K
VLO
× Speed tolerance
Yes %/Hz 40
1
C3 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
C3-08
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
C3 09
Positioning Comple-
tion
Detection
W
idth
Detection width for outputting completion signal when the load shaft
approaches
the
stop
reference
position
No
Deg
05
20.0
C3-09
ti
on
D
e
t
ec
ti
on
W
idth
Z
FIN
approac
h
es
th
es
t
op re
f
erence pos
iti
on.
Detection width is stop reference position ±Z
FIN.
No Deg. 0.5
0.0
C3 10
Positioning Comple-
tion
Cancel
W
idth
Set value for canceling completion signal when the load shaft is
moved
after
completion
signal
is
output
No
Deg
10
20.0
C3-10
ti
on
C
ance
l
W
idth
Z
CAN
move
d
a
ft
er comp
l
e
ti
on s
i
gna
l
i
sou
t
pu
t
.
Cancel width at stop reference position ±Z
CAN.
No Deg. 1.0
Z
FIN
C3 1
1
Orientation Speed Speed applied (after detecting magnetic sensor signal) until changing
t
th
l
di
itti
No
min
−
1
400
600
C3-11
p
S
ORT
p
pp
(
g
g
g)
gg
to the servo loop during orientation.
No min
−
1
400
40
C3 12
BCD Stop Position
Reference
Resolution
Completion signal cancel angle per minimum increment for deter-
mining
stop
position
for
incremental
positioning
with
BCD
com
-
No
Deg
10
180.0
C3-12
R
e
f
erence
R
eso
l
u
ti
on
P
BCD
m
i
n
i
ng s
t
op pos
iti
on
f
or
i
ncremen
t
a
l
pos
iti
on
i
ng w
ith
BCD
com-
mand after stopping at home position.
No Deg. 1.0
0.5
C3 13
Virtual Stop Position
Of
fset
Stop position offset for smoothing stop operation when the servo
loop
is
used
No
Deg
00
10.0
C3-13
Of
f
se
t
P
IMG
l
oop
i
s use
d
.
When Z
FIN
is reached, offset becomes 0.
No Deg. 0.0
0
C3 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
C3-14
C
h
ang
i
ng Rat
i
o 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
10