Gain Switching Combinations - YASKAWA SGD7S series Product Manual

3.3.3

Gain Switching Combinations

You can use gain switching to shorten the positioning time by increasing the gains during posi-
tioning and to suppress vibration by decreasing the gains while stopping.
SERVOPACKs with Analog Voltage/Pulse Train References
Selected
Gains Loop Gain
Speed
Gain
Loop Gain
Settings 1
(Pn100)
Second
Gain Speed
Settings 2 Loop Gain
(Pn104)
*
This parameter is valid only for SERVOPACKs with Analog Voltage/Pulse Train References. The gains are switched
when there is no reference pulse input and reference distribution has been completed (/DEN). The timing for
switching other gains and the timing for switching the Position Reference Acceleration/Deceleration Filter Time
Constant are not the same.
SERVOPACKs with MECHATROLINK-III Communications
References
Selected
Gains
Gain
Settings 1
Gain
Settings 2
Speed
Loop
Speed Position
Integral
Loop Gain
Time
Constant
Speed
Loop Inte- Position
gral Time Loop Gain
Constant (Pn102)
(Pn101)
Second
Speed Second
Loop Inte- Position
gral Time Loop Gain
Constant (Pn106)
(Pn105)
Speed Loop
Speed Loop
Integral Time
Gain
Constant
Speed Loop
Speed Loop Integral Time
Gain (Pn100) Constant
(Pn101)
Second
Second Speed Loop
Speed Loop Integral Time
Gain (Pn104) Constant
(Pn105)
3.3 Adjusting Less-Deviation Control 2
3.3.3 Gain Switching Combinations
Position
Torque
Integral
Reference
Time
Filter
Constant
First Stage
Position
First Torque
Integral
Reference
Time
Filter Time
Constant
Constant
(Pn11F)
(Pn401)
Less-
Deviation First Stage
Control 2 Second
Second Torque Ref-
Position erence Fil-
Integral ter Time
Time Constant
Constant (Pn412)
(Pn13F)
Position
Position Integral
Loop Gain Time
Constant
Position Inte-
Position
gral Time
Loop Gain
Constant
(Pn102)
(Pn11F)
Less-Devia-
Second tion Control 2
Position Second Posi-
Loop Gain tion Integral
(Pn106) Time Con-
stant (Pn13F)
Position
Friction Reference
Compen- Acceleration/
sation Deceleration
Gain Filter Time
Constant*
Position Ref-
Friction
erence Accel-
Compen-
eration/
sation
Deceleration
Gain
Time Con-
(Pn121)
stant (Pn216)
Second Posi-
Second
tion Refer-
Friction
ence
Compen-
Acceleration/
sation
Deceleration
Gain
Time Con-
(Pn122)
stant (Pn234)
Torque Friction
Reference Compensa-
Filter tion Gain
First Stage
Friction
First Torque
Compensa-
Reference Fil-
tion Gain
ter Time Con-
(Pn121)
stant (Pn401)
First Stage
Second
Second
Friction
Torque Refer-
Compensa-
ence Filter
tion Gain
Time Con-
(Pn122)
stant (Pn412)
3
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