YASKAWA SGD7S Product Manual page 334

8.12 Additional Adjustment Functions
8.12.1 Gain Switching
 Relationship between the Waiting Times and Switching Times for Gain
Switching
In this example, an ON /COIN (Positioning Completion) signal is set as condition A for auto-
matic 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 switch-
ing time (Pn131).
Pn102
Position Loop Gain
/COIN
Information
Related Parameters
Pn100
Pn101
Pn102
Pn401
Pn141
Pn142
Pn121
Pn104
Pn105
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
Model Following Control Gain
Setting Range Setting Unit
10 to 20,000
Model Following Control Correction
Setting Range Setting Unit
500 to 2,000
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
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
0.1/s 500
Default Setting
0.1% 1,000
Default Setting
1% 100
Default Setting
0.1 Hz 400
Default Setting
0.01 ms 2,000
Speed Position
When Enabled Classification
Immediately Tuning
Speed Position
When Enabled Classification
Immediately Tuning
Position
When Enabled Classification
Immediately Tuning
Speed Position Torque
When Enabled Classification
Immediately Tuning
Position
When Enabled Classification
Immediately Tuning
Position
When Enabled Classification
Immediately Tuning
Speed Position
When Enabled Classification
Immediately Tuning
Speed Position
When Enabled Classification
Immediately Tuning
Speed Position
When Enabled Classification
Immediately Tuning
Continued on next page.