Additional Adjustment Functions; Automatic Gain Switching; Friction Compensation - YASKAWA SGD7S Product Manual

8.12 Additional Adjustment Functions

8.12.1 Automatic Gain Switching

Pn102
Position Loop Gain
/COIN
Information
Related Parameters
Pn100
Pn101
Pn102
Pn401
Pn121
Pn104
Pn105
Pn106
Pn412
Pn122
8-68
Waiting Switching
time: Pn135 time: Pn131
Switching condition A satisfied.
You can use gain switching for either PI control or I-P control (Pn10B = n.0 or 1).
Speed Loop Gain
Setting Range Setting Unit
10 to 20,000
Speed Loop Integral Time Constant
Setting Range Setting Unit
15 to 51,200
Position Loop Gain
Setting Range Setting Unit
10 to 20,000
First Stage First Torque Reference Filter Time Constant
Setting Range Setting Unit
0 to 65,535
Friction Compensation Gain
Setting Range Setting Unit
10 to 1,000
Second Speed Loop Gain
Setting Range Setting Unit
10 to 20,000
Second Speed Loop Integral Time Constant
Setting Range Setting Unit
15 to 51,200
Second Position Loop Gain
Setting Range Setting Unit
10 to 20,000
First Stage Second Torque Reference Filter Time Constant
Setting Range Setting Unit
0 to 65,535
Second Friction Compensation Gain
Setting Range Setting Unit
10 to 1,000
Pn106
Second
Position Loop Gain
Default Setting
0.1 Hz 400
Default Setting
0.01 ms 2,000
Default Setting
0.1/s 400
Default Setting
0.01 ms 100
Default Setting
1% 100
Default Setting
0.1 Hz 400
Default Setting
0.01 ms 2,000
Default Setting
0.1/s 400
Default Setting
0.01 ms 100
Default Setting
1% 100
When Enabled Classification
Immediately Tuning
When Enabled Classification
Immediately Tuning
When Enabled Classification
Immediately Tuning
When Enabled Classification
Immediately Tuning
When Enabled Classification
Immediately Tuning
When Enabled Classification
Immediately Tuning
When Enabled Classification
Immediately Tuning
When Enabled Classification
Immediately Tuning
When Enabled Classification
Immediately Tuning
When Enabled Classification
Immediately Tuning