Method To Switch The Gain; Settings For Low-Speed Feeding - YASKAWA SGD7S series Product Manual

3.3 Adjusting Less-Deviation Control 2

3.3.4 Method to Switch the Gain

3.3.4 Method to Switch the Gain
SERVOPACKs with Analog Voltage/Pulse Train References
First, make sure that Pn139 is set to n.
To switch between gain settings 1 and gain settings 2, use the G_SEL external input signal.
Classification
Input
*
Refer to the following manual for details.
Σ-7-Series Σ-7S SERVOPACK with Analog Voltage/Pulse Train References Product Manual
(Manual No.: SIEP S800001 26)
SERVOPACKs with MECHATROLINK-III Communications
References
First, make sure that Pn139 is set to n.
To switch between gain settings 1 and gain settings 2, use G_SEL in the servo command out-
put signals (SVCMD_IO).
Classification
Input
3.3.5

Settings for Low-speed Feeding

The tracking performance of less-deviation control is high. Therefore, if the position reference
speed input is intermittent during homing or other low-speed operations, the machine may
vibrate.
If that occurs, perform the following procedure.
SERVOPACKs with Analog Voltage/Pulse Train References
1.
Set Pn234 (Second Position Reference Acceleration/Deceleration Time Constant) to an
appropriate value.
2.
During low-speed feeding, change the gains from gain settings 1 to gain settings 2.
The setting of Pn234 is applied, the reference tracking performance decreases, and vibration is
reduced.
100%
63.2%
3-10
Signal Name
Must be assigned with
/G-SEL
Pn50D = n.X.*
Command Name
G_SEL in the Servo Command
Output Signals (SVCMD_IO)
Position reference speed
Setting of Pn234 Setting of Pn234

0 (manual gain switching).
Connector Pin Setting
OFF
ON

0 (manual gain switching).
Setting
0
1
Operation before filter
Operation after filter (operation with a suitable value set in Pn234)
36.8%
Time
Meaning
Changes the gains to gain settings 1.
Changes the gains to gain settings 2.
Meaning
Changes the gains to gain settings 1.
Changes the gains to gain settings 2.