Gain Switching - YASKAWA SGD7S Product Manual

Manual Gain Switching
With manual gain switching, you use G-SEL in the servo command output signals (SVCMD_IO)
to change between gain settings 1 and gain settings 2.
Type Command Name
G-SEL in the servo command output sig-
Input
nals (SVCMD_IO)
Automatic Gain Switching
Automatic gain switching is enabled only for position control. The switching conditions are
specified by using the following settings.
Switching
Parameter
Condition
Condition A
satisfied

Pn139 n. 2
Condition A not
satisfied
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.
Condition A
satisfied
Gain settings 1:
Pn100
Pn101
Pn102
Pn121
Pn401
Switching Waiting Time 2: Pn136
Gain Switching Time 2: Pn132
0
1
Selected Gains
Gain settings 1 to gain set-
tings 2
Gain settings 2 to gain set-
tings 1
Position Control Gain
Switching Condition A
Control (No Switching)
/COIN (Positioning Com-
Gain settings 1 used.
pletion) signal ON
/COIN (Positioning Com-
Gain settings 2 used.
pletion) signal OFF
/NEAR (Near) signal ON Gain settings 1 used.
/NEAR (Near) signal OFF Gain settings 2 used.
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.
2)
Switching Waiting Time 1: Pn135
Gain Switching Time 1: Pn131
Condition A
not satisfied
8.12 Additional Adjustment Functions
Value Meaning
Changes the gain settings to gain settings 1.
Changes the gain settings to gain settings 2.
Switching
Waiting Time

Gain Switching

Waiting Time 1
Pn135
Gain Switching
Waiting Time 2
Pn136
For Control Methods
Other Than Position
Enabled
Immediately
Gain settings 2:
Pn104
Pn105
Pn106
Pn122
Pn412
8.12.1 Gain Switching
Switching Time
Gain Switching
Time 1
Pn131
Gain Switching
Time 2
Pn132
When
Classification
Tuning
8-67
8