Additional Adjustment Function; Switching Gain Settings - YASKAWA Σ-V Series User Manual

5 Adjustments

5.8.1 Switching Gain Settings

5.8

Additional Adjustment Function

This section describes the functions that can be used for additional fine tuning after making adjustments with
advanced autotuning, advanced autotuning by references, or one-parameter tuning.

• Switching gain settings

• Friction compensation
• Current Control Mode Selection
• Current Gain Level Setting
• Speed Detection Method Selection
5.8.1 Switching Gain Settings
Two gain switching functions are available, manual switching and automatic switching. The manual switch-
ing function uses an external input signal to switch gains, and the automatic switching function switches gains
automatically.
Pn139
Note: n.
For the gain combinations for switching, refer to (1) Gain Combinations for Switching.
For the manual gain switching, refer to the manual of the connected command option module.
For the automatic gain switching, refer to (3) Automatic Gain Switching.
(1) Gain Combinations for Switching
Speed Loop
Setting
Gain
Pn100
Gain
Speed Loop
Setting 1
Gain
Pn104
Gain
2nd Speed Loop
Setting 2
Gain
∗
The switching gain settings for the model following control gain and the model following control gain compensation
are available only for manual gain switching. To enable the gain switching of these parameters, a gain switching input
signal must be sent, and the following conditions must be met.
• No command being executed.
• Motor having been completely stopped.
If these conditions are not satisfied, these parameters will not be switched although the other parameters shown in this
table will be switched.
(2) Manual Gain Switching
Manual gain switching uses a command (/G_SEL) from the Command Option Module to switch between gain
setting 1 and gain setting 2.
For details, refer to the manual of the connected Command Option Module.
5-52
Parameter
n. 0 Manual gain switching [Factory setting]
n. 2 Automatic gain switching
1 is reserved. Do not set.
Speed Loop
Position Loop
Integral Time
Constant
Pn101
Pn102
Speed Loop
Position Loop
Integral Time
Gain
Constant
Pn105
Pn106
2nd Speed Loop
2nd Position
Integral Time
Loop Gain
Constant
Function
Force
Reference
Gain
Filter
Pn401
Force
Reference
Filter Time
Constant
Pn412
1st Step
2nd Force Ref-
erence Filter
Time Constant
When Enabled
Immediately
Model
Model
Following
Following
Control Gain
Control Gain
Compensation
*
Pn142
*
Pn141
Model Follow-
Model Follow-
ing Control
ing Control
Gain Compen-
Gain
sation
*
Pn149
*
Pn148
2nd Model Fol-
2nd Model Fol-
lowing Control
lowing Control
Gain Compen-
Gain
sation
Classification
Tuning
Friction
Compensation
Gain
Pn121
Friction Com-
pensation Gain
Pn122
2nd Gain for
Friction
Compensation