Additional Adjustment Functions; Gain Switching - YASKAWA SGD7S Product Manual

8.12 Additional Adjustment Functions

8.12.1 Gain Switching

8.12

Additional Adjustment Functions

This section describes the functions that you can use to make adjustments after you perform
autotuning without a host reference, autotuning with a host reference, and custom tuning.
Gain Switching
Friction Compensation
Current Control Mode Selection
Current Gain Level Setting
Speed Detection Method Selection Position control, speed control, or torque control
Backlash Compensation
*
Automatic gain switching is enabled only for position control.
8.12.1 Gain Switching
Two gain switching functions are available, manual selection and automatic switching. The
manual switching function uses an external input signal to select the gains, and the automatic
switching function changes the gains automatically.
You can use gain switching to shorten the positioning time by increasing the gains during posi-
tioning and suppressing vibration by decreasing the gains while stopping.
Pn139
Note: Pn139 = n.1 is a reserved setting. Do not use this setting.
Refer to the following section for gain switching combinations.
Gain Switching Combinations on page 8-66
Refer to the following sections for information on manual and automatic gain switching.
Manual Gain Switching on page 8-67 and Automatic Gain Switching on page 8-67
Gain Switching Combinations
Selected
Gains
Gain Set-
tings 1
Gain Set-
tings 2
*
Gain switching for the model following control gain and the model following control gain correction is applicable
only to manual gain switching.
To enable gain switching with these parameters, a gain switching input signal must be used and the following con-
ditions must be met. If the conditions are not met, these parameters will not be changed even if the other param-
eters in the above table are changed.
8-66
Function
Parameter

n. 0
Use manual gain switching.
(default setting)

n. 2 Use automatic gain switching pattern 1.
Speed Speed Loop
Loop Integral Time
Gain Constant
Speed Speed Loop
Loop Integral Time
Gain Constant
(Pn100) (Pn101)
Second Second
Speed Speed Loop
Loop Integral Time
Gain Constant
(Pn104) (Pn105)
• There must be no reference.
• The motor must be stopped.
Applicable Control Methods
Position control, speed control, or torque control*
Position control or speed control
Position control, speed control, or torque control
Position control or speed control
Position Control
Function
Position Torque Refer-
Loop Gain ence 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)
page 8-66
page 8-70
page 8-72
page 8-72
page 8-73
page 8-73
When Enabled
Immediately
Model Fol- Model Follow-
lowing Con- ing Control
trol Gain Correction
Model Fol- Model Follow-
lowing Con- ing Control
trol Gain* Correction*
(Pn141) (Pn142)
Second Second Model
Model Fol- Following
lowing Con- Control Gain
trol Gain* Correction*
(Pn148) (Pn149)
Reference
Classification
Tuning
Friction
Compensa-
tion Gain
Friction
Compensa-
tion Gain
(Pn121)
Second
Friction
Compensa-
tion Gain
(Pn122)