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

Select one of the following settings for switching condition A.
Parameter
 
n. 0
(default setting)
 
n. 1
 
n. 2
Pn139
 
n. 3
 
n. 4
 
n. 5
Automatic Switching Pattern 1 (Pn139 = n.2)
Condition A
satisfied
Gain settings 1:
Pn100
Pn101
Pn102
Pn121
Pn401
Switching Waiting Time 2: Pn136
Gain Switching Time 2: Pn132
/COIN (Positioning Completion Output) Signal and /NEAR (Near Output) Signal
Information
A SERVOPACK with a DeviceNet Module does not have /COIN (Positioning Completion Out-
put) and /NEAR (Near Output) signals. Here, the following conditions are treated as the active
signal status.
• /COIN (Positioning Completion Output) signal: The conditions for both Pn522 (Positioning
Completed Width) and Pn207 (/COIN (Positioning Completion Output) Signal Output Tim-
ing) have been met.
• /NEAR (Near Output) signal: The current condition is equal to or less than the setting of
Pn524 (Near Signal Width).
 Relationship between the Waiting Times and Switching Times for Gain
Switching
In this example, an ON /COIN (Positioning Completion Output) signal is set as the condition for
automatic gain switching. The position loop gain is changed from the value in Pn102 (Position
Loop Gain) to the value in Pn106 (Second Position Loop Gain). When the /COIN signal turns
ON, the switching operation begins after the waiting time (Pn135). The switching operation
changes the position loop gain linearly from the gain set in Pn102 to the gain set in Pn106 over
the switching time (Pn131).
Position Control Gain
Switching Condition A
Control (No Switching)
/COIN (Positioning Com-
pletion Output) signal Gain settings 1 used.
turns ON.
/COIN (Positioning Com-
pletion Output) signal Gain settings 2 used.
turns OFF.
/NEAR (Near Output) sig-
Gain settings 1 used.
nal turns ON.
/NEAR (Near Output) sig-
Gain settings 2 used.
nal turns OFF.
Position reference filter
output is 0 and position Gain settings 1 used.
reference input is OFF.
Position reference input is
Gain settings 2 used.
ON.
Switching Waiting Time 1: Pn135
Gain Switching Time 1: Pn131
Condition A
not satisfied

8.12 Additional Adjustment Functions

8.12.1 Automatic Gain Switching

For Control Methods
When
Other Than Position
Enabled
Immediately
Gain settings 2:
Pn104
Pn105
Pn106
Pn122
Pn412
Classification
Tuning
8
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