YASKAWA XTRAWARE - V3.0 - Page 222

Parameter Reference
212 XtraWare User Manual
Cat.
Parameter
Number
Name Unit
Setting
Range
Default
Setting
Ref.
Pn109 Feed-Forward (Speed
control)
% 0 to 100 0 8.2.2
Pn110* Online Auto-tuning
Switches
- - 0010 8.3.6
Pn190* Motor selection switch - - 0000 7.9
Pn191* Motor selection switch - - 0000 7.9
Pn192* Pulses number of A quad
B encoder Low)
pulses/
rev
0-9999 2048 7.9
Motor
parameters
Pn193* Pulses number of A quad
B encoder (High)
pulse*
10000/
rev
0-419 0 7.9
Motor /
Encoder
Pn199* Encoder counts per
Scale Pitch of linear
motor
counts/
scale pitch
1-256 1
Pn1A0 Global gain factor
(tightness)
% 0-500 60 8.3.3
Pn1A2 Speed feedback filter 0.01ms 30-3200 40 8.3.5
Pn1A4 Torque filter (low pass) 0.01ms 0-2500 20 8.3.5
Pn1A5 Torque filter (second
order)
0.1% 0-1000 0 8.3.5
Pn1A7 Integral mode switch - - 1121 8.3.8
Pn1A9 Integral feedback gain Hz 0-500 40 8.3.5
Pn1AA Proportional feedback
gain
Hz 0-500 40 8.3.3
Pn1AB Supplementary
proportional feedback
gain
Hz 0-500 30 8.3.3
Pn1AC Speed feedback gain Hz 0-2000 80 8.3.3
Pn1AF Feed forward gain % 0-200 0 8.3.3
Pn1B5 Maximum variable gain % 100-1000 160 8.3.7
Pn1BB Feed forward
compensation
Hz 10-2000 2000 8.3.4
Pn1BC Filter on command
acceleration
0.01ms 0-2500 300 8.3.4
Pn1BD Reduction of vibrations
due to system flexibility.
Hz 10-2000 2000 8.3.4
Pn1BE (Kiv) Software
Communication Speed
Loop Integral Gain
- 0-65535 3160
Pn1BF Integral switch advance - 1-15 3 8.3.8
Pn1C0 Integral offset averaging
time
ms 0-25 0 8.3.7
Gain parameters
Pn1C1 Integral switch advance 125 μs 0-8 3 —