5.9 Compatible Adjustment Function5-755 Adjustments5.9.4 Position IntegralThe position integral is the integral function of the position loop. It is used for the electronic cams and elec-tronic shafts when using the SERVOPACK with YASKAWA MP900/2000 Machine Controllers.Pn40D2nd Notch Filter Q Value ClassificationSetting Range Setting Unit Factory Setting When Enabled50 to 1000 0.01 70 Immediately TuningPn40E2nd Notch Filter Depth ClassificationSetting Range Setting Unit Factory Setting When Enabled0 to 1000 0.001 0 Immediately Tuning• Sufficient precautions must be taken when setting the notch filter frequencies. Do notset the notch filter frequencies (Pn409 or Pn40C) that is close to the speed loop’sresponse frequency. Set the frequencies at least four times higher than the speedloop’s response frequency. Setting the notch filter frequency too close to the responsefrequency may cause vibration and damage the machine.• Change the notch filter frequencies (Pn409 or Pn40C) only when the servomotor isstopped. Vibration may occur if the notch filter frequency is changed when the servo-motor is rotating.(cont’d)Speed Position TorqueSpeed Position TorquePn11FPosition Integral Time Constant ClassificationSetting Range Setting Unit Factory Setting When Enabled0 to 50000 0.1 ms 0 Immediately TuningPosition
