Parameter Setting for YASKAWA Σ-7 Servo Drive (Bus-type)

Pn000

• Name: Function selection basic switch 0

• Factory Value: 0000

• Description:

  • Bit 0 (Rotation direction selection)

    • 0: Use CCW as the forward direction. Use the direction in which the linear encoder counts up as the forward direction.

    • 1: Use CW as the forward direction. (Reverse Rotation Mode) Use the direction in which the linear encoder counts down as the forward direction. (Reverse Movement Mode)

  • Bit 1 and 2: Reserved parameter (Do not change.)

  • Bit 3 (Rotary/linear servo motor startup selection when encoder is not connected)

    • 0: When an encoder is not connected, start as SERVOPACK for Rotary Servomotor.

    • 1: When an encoder is not connected, start as SERVOPACK for Linear Servomotor.

Pn002

• Name: Function selection basic switch 2

• Factory Value: 0000

• Description:

  • Bit 0 (Speed/position control option):

    • 0: Do not use P_TLIM, N_TLIM, TFF.

    • 1: Use P_TLIM, N_TLIM as an external torque limit input.

    • 2: Use TFF as a torque feedback input.

    • 3: Use P_TLIM, N_TLIM as an external torque limit input when /P-CL or /N-CL of OPTION is ON.

  • Bit 1 (Torque control option):

    • 0: Do not use VLIM.

    • 1: Use VLIM as an external speed limit input.

  • Bit 2 (Encoder usage):

    • 0: Use the encoder according to encoder specifications.

    • 1: Use the encoder as an incremental encoder.

    • 2: Use the encoder as a single-turn absolute encoder. (Rotary motor)

  • Bit 3 (External encoder usage, applicable to rotary motors):

    • 0: Do not use an external encoder.

    • 1: The external encoder moves in the positive direction for CCW motor rotation.

    • 2: Reserved setting (Do not change.)

    • 3: The external encoder moves in the reverse direction for CCW motor rotation.

    • 4: Reserved setting (Do not change.)

Pn008

• Name: Function selection basic switch 8

• Factory Value: 0000

• Description:

  • Bit 0 (Low battery voltage alarm/warning selection)

    • 0: Output alarm (A.830) for low battery voltage.

    • 1: Output warning (A.930) for low battery voltage.

  • Bit 1 (Function selection for undervoltage)

    • 0: Do not detect undervoltage.

    • 1: Detect undervoltage warning and limit torque at host controller.

    • 2: Detect undervoltage warning and limit torque with Pn424 and Pn425 (i.e., only in SERVOPACK).

  • Bit 2 (Warning detection selection)

  • 0: Detect warnings.

  • 1: Do not detect warnings except for A.971.

Fn010

• Name: Parameter input prohibition setting

• Factory Value: 0000

• Value: 0000

• Description:

  • 0000: modification to user parameters [PnXXX] and part of auxiliary function parameters [FnXXX] permitted

  • 0001: Modification to user parameters [PnXXX] and part of auxiliary function parameters [FnXXX] prohibited.

Pn100

• Name: Speed loop gain

• Range: 10 ~ 20000

• Unit: Hz

• Factory Value: 400

Pn101

• Name: Speed loop integral time constant

• Range: 15 ~ 51200

• Unit: ms

• Factory Value: 2000

Pn102

• Name: Position loop gain

• Range: 10 ~ 20000

• Factory Value: 400

Pn103

• Name: Moment of inertia ratio

• Range: 0 ~ 20000

• Factory Value: 100

Pn109

• Name: Feedforward

• Range: 0 ~ 100

• Factory Value: 0

Pn10A

• Name: Feedforard filter time constant

• Unit: ms

• Range: 0 ~ 6400

• Factory Value: 0

Pn11F

• Name: Position integral time constant

• Unit: ms

• Description: 0 ~ 50000

• Factory Value: 0

Pn140

• Name: Model following control-related selections

• Factory Value: 0100

• Description:

  • Bit 0 (Model following control selection)

    • 0: Do not use model following control.

    • 1: Use model following control.

  • Bit 1 (Vibration suppression selection)

    • 0: Do not perform vibration suppression.

    • 1: Perform vibration suppression for a specific frequency.

    • 2: Perform vibration suppression for two specific frequencies.

  • Bit 2 (Vibration suppression adjustment selection)

    • 0: Do not adjust vibration suppression automatically during execution of autotuning without a host reference, autotuning with a host reference, and custom tuning.

    • 1: Adjust vibration suppression automatically during execution of autotuning without a host reference, autotuning with a host reference, and custom tuning.

  • Bit 3 (Speed feedforward (vff)/torque feedforward (tff) selection)

    • 0: Do not use model following control and speed/torque feedforward together.

    • 1: Use model following control and speed/torque feedforward together.

Pn160

• Name: Anti-resonance control selections

• Factory Value: 0010

• Description:

  • Bit 0 (Anti-resonance control selection)

    • 0: Do not use anti-resonance control.

    • 1: Use anti-resonance control.

  • Bit 1 (Anti-resonance control adjustment selection)

    • 0: Do not adjust anti-resonance control automatically during execution of autotuning without a host reference, autotuning with a host reference, and custom tuning.

    • 1: Adjust anti-resonance control automatically during execution of autotuning without a host reference, autotuning with a host reference, and custom tuning.

  • Bit 1 and 2: reserved parameter (do not change.)

Pn170

• Name: Tuning-less function-related selections

• Factory Value: -

• Description:

  • Bit 0 (Tuning-less selection)

    • 0: Disable tuning-less function.

    • 1: Enable tuning-less function.

  • Bit 1 (Speed control method)

    • 0: Use for speed control.

    • 1: Use for speed control and use host controller for position control.

    • Bit 2 (Rigidity level)

      0~7: Set the rigidity level.

    • Bit 3 (Tuning-less load level)

      0 ~ 2: Set the load level for the tuning-less function

Pn20E and Pn210

• Name: Electronic gear ratio (numerator) / (denominator)

• Factory Value: 1

• Description: Electronic gear ratio is fixed to 1:1.

Pn212

• Name: Pulse No. allocated by encoder

• Range: 16 ~ 2^30. Its concrete value is decided by PG divider ratio.

• Factory Value: 2048

• Typical value: When pulse equivalent is 0.001, pitch 10 mm, without reducer, this parameter is set to 2500; when pitch 5 mm, it is set to 1250.

Pn401

• Name: First stage first torque reference filter time constant

• Unit: ms

• Range: 0 ~ 65535

• Factory Value: 100

Pn408

• Name: Torque-related function selections

• Factory Value: 0000

• Description:

  • Bit 0 (Notch filter selection 1)

    • 0: Disable first stage notch filter.

    • 1: Enable first stage notch filter.

  • Bit 1 (Speed limit selection)

    • 0: Use the smaller of the maximum motor speed and the setting of Pn407 as the speed limit. Or use the smaller of the maximum motor speed and the setting of Pn480 as the speed limit.

    • 1: Use the smaller of the overspeed alarm detection speed and the setting of Pn407 as the speed limit. Or use the smaller of the overspeed alarm detection speed and the setting of Pn480 as the speed limit.

  • Bit 2 (Notch filter selection 2)

    • 0: Disable second stage notch filter.

    • 1: Enable second stage notch filter.

  • Bit 3 (Friction compensation function selection)

    • 0: Disable friction compensation.

    • 1: Enable friction compensation.

Pn409

• Name: First stage notch filter frequency

• Range: 50 ~ 5000

• Unit: Hz

• Factory Value: 5000

Pn40C

• Name: Second stage notch filter frequency

• Range: 50 ~ 5000

• Unit: Hz

• Factory Value: 5000

Pn460

• Name: Notch filter adjustment selections 1

• Factory Value: 0101

• Description:

  • Bit 0 (Notch filter adjustment selection 1)

    • 0: Do not adjust the first stage notch filter automatically during execution of autotuning without a host reference, autotuning with a host reference, and custom tuning.

    • 1: Adjust the first stage notch filter automatically during execution of autotuning without a host reference, autotuning with a host reference, and custom tuning.

  • Bit 1: Reserved parameter (Do not change.)

  • Bit 2 (Notch filter adjustment selection 2)

    • 0: Do not adjust the second stage notch filter automatically during execution of autotuning without a host reference, autotuning with a host reference, and custom tuning.

    • 1: Adjust the second stage notch filter automatically during execution of autotuning without a host reference, autotuning with a host reference, and custom tuning.

  • Bit 3: Reserved parameter (Do not change.)

Pn503

• Name: Speed coincidence detection signal output width

• Range: 0 ~ 100

• Unit: min^-1

• Factory Value: 10

Pn506

• Name: Brake instruction- servo OFF time delay

• Unit: ms

• Factory Value: 0

• Description: Depended on the actual situation. It is set when motor with brakes.

Pn509

• Name: Momentary power interruption hold time

• Range: 20 ~ 50000

• Unit: ms

• Factory Value: 20

Pn50A

• Name: Input signal selection 1

• Factory Value: 1881

• Value: 8881

• Description:

  Bit 3

   8: Positive rotation not used and signal input (P-OT) prohibited.
  

Pn50B

• Name: Input signal selection 2

• Factory Value: 8882

• Value: 8888

• Description:

  Bit 0

  8: Negative rotation not used and signal input (N-OT) prohibited.
  

Pn50E

• Name: Output signal selection 1

• Factory Value: 0000

• Value: 0000

• Description:

  • Bit 0 (Positioning Finish Output Signal(/COIN) Allocation)

    • 0: Disabled (the above signal output is not used).

    • 1: Output the signal from the CN1-1 or CN1-2 output terminal.

    • 2: Output the signal from the CN1-23 or CN1-24 output terminal.

    • 3: Output the signal from the CN1-25 or CN1-26 output terminal.

  • Bit 1 (Speed Coincidence Detection Signal(/V-CMP) Allocation)

    0～3: It is same with the allocation of positioning finish output signal (/COIN).

  • Bit 2 (Torque Output Signal(/TGON）Allocation)

    0~3: It is same with the allocation of positioning finished signal (/COIN).

  • Bit 3(Servo Ready Output (/S-RDY）Signal Allocation)

    0~38: It is same with the allocation of positioning finished signal (/COIN).

Pn50F

• Name: Output signal selection 2

• Factory Value: 0100

• Value: 0100

• Description:

  • Bit 0 (Torque Limit Output Signal (/CLT）Signal Allocation）

    • 0: Disabled (the above signal output is not used).

    • 1: Output the signal from the CN1-1 or CN1-2 output terminal.

    • 2: Output the signal from the CN1-23 or CN1-24 output terminal.

    • 3: Output the signal from the CN1-25 or CN1-26 output terminal.

  • Bit 1 (Torque Limit Output Signal (/VLT) Signal Allocation)

    0~3: It is same with the allocation of torque limit output signal (/CLT).

  • Bit 2(Baker Control (/BK）Signal Allocation）

    1: Output the signal from the CN1-1 or CN1-2 output terminal.

  • Bit 3(Warning Output (/WARN）Signal Allocation）:
    0~3: It is same with the allocation of torque limit output signal (/CLT).

Pn510

• Name: Output signal selection 3

• Factory Value: 0000

• Value: 0000

• Description:

  • Bit 0 (/NEAR (near output) signal allocation)

    • 0: Disabled (the above signal output is not used).

    • 1: Output the signal from the CN1-1 or CN1-2 output terminal.

    • 2: Output the signal from the CN1-23 or CN1-24 output terminal.

    • 3: Output the signal from the CN1-25 or CN1-26 output terminal.

  • Bit 1/2/3: Reserved parameter (Do not change.)

Pn514

• Name: Output signal selection 4

• Factory Value: 0000

• Value: 0000

• Description:

  • Bit 0/1/3: Reserved parameter (Do not change.)

  • Bit 2: /PM (Preventative Maintenance Output) Signal Allocation

  • 0: Disabled (the above signal output is not used).

  • 1: Output the signal from the CN1-1 or CN1-2 output terminal.

  • 2: Output the signal from the CN1-23 or CN1-24 output terminal.

  • 3: Output the signal from the CN1-25 or CN1-26 output terminal.

Pn520

• Name: Position deviation overflow alarm level

• Value: 5242880

Pn522

• Name: Positioning completed width

• Factory Value: 7

• Value: 200

Pn600

• Name: Regenerative resistor capacity

• Value: 0

• Unit: W

• Description: It depends on model.