Gain Switching Combinations - YASKAWA SGD7S series Product Manual

3.4 Adjusting Less-Deviation Control 1

3.4.3 Gain Switching Combinations

3.4.3 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
Gain
Settings 1
Gain
Settings 2
*
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 of 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
3-14
Speed
Loop
Speed
Integral
Loop Gain
Time
Constant
Speed
Speed Loop Inte-
Loop Gain gral Time
(Pn100) Constant
(Pn101)
Second
Second Speed
Speed Loop Inte-
Loop Gain gral Time
(Pn104) Constant
(Pn105)
Speed Loop
Speed Loop Integral
Gain Time
Constant
Speed Loop
Speed Loop
Integral Time
Gain
Constant
(Pn100)
(Pn101)
Second
Second
Speed Loop
Speed Loop
Integral Time
Gain
Constant
(Pn104)
(Pn105)
Position Torque
Loop Reference
Gain Filter
First Stage
Position First Torque
Loop Reference
Gain Filter Time
(Pn102) Constant
(Pn401)
First Stage
Second Second
Position Torque Ref-
Loop erence Fil-
Gain ter Time
(Pn106) Constant
(Pn412)
Torque
Position
Reference
Loop Gain
Filter
First Stage
Position First Torque
Loop Gain Reference Fil-
(Pn102) ter Time Con-
stant (Pn401)
First Stage
Second Second
Position Torque Refer-
Loop Gain ence Filter
(Pn106) Time Con-
stant (Pn412)
Position
Friction
Reference
Com-
Acceleration/
pensa-
Deceleration
tion
Filter Time
Gain
Constant*
Friction Position Ref-
Com- erence
pensa- Acceleration/
tion Deceleration
Gain Time Con-
(Pn121) stant (Pn216)
Second Second
Position Ref-
Friction
Com- erence
pensa- Acceleration/
tion Deceleration
Gain Time Con-
(Pn122) stant (Pn234)
Less-Deviation
Friction
Compen-
Feedforward
sation Gain
Friction Less-Deviation
Compen- Control 1 Feed-
sation Gain forward Gain
(Pn121) (Pn191)
Second Less-Deviation
Friction Control 1 Sec-
Compen- ond Feedfor-
sation Gain ward Gain
(Pn122) (Pn192)
Less-
Deviation
Control
Feedforward
Gain
Less-Devia-
tion Control 1
Feedforward
Gain (Pn191)
Less-Devia-
tion Control 1
Second
Feedforward
Gain (Pn192)
Control
Gain