YASKAWA SGD7S Product Manual page 577

Parameter
Name
No.
Gain Switching Waiting
Pn135 2
Time 1
Gain Switching Waiting
Pn136 2
Time 2
Automatic Gain Switch-
2
ing Selections 1
Gain Switching Selection

n. X
Pn139
Gain Switching Condition A
 
n. X
 
n. X Reserved parameter (Do not change.)

n.X Reserved parameter (Do not change.)
Pn13D 2 Current Gain Level
Model Following Con-
2
trol-Related Selections
Model Following Control Selection

n. X
Vibration Suppression Selection
 
n. X
Pn140
Vibration Suppression Adjustment Selection
 
n. X
Speed Feedforward (VFF)/Torque Feedforward (TFF) Selection

n.X
Model Following Con-
Pn141 2
trol Gain
Setting Setting
Range Unit
0 to 65,535 1 ms
0 to 65,535 1 ms
0000 to
–
0052
Use manual gain switching.
0
The gain is switched manually with the /G-SEL (Gain Selection) signal.
1 Reserved setting (Do not use.)
Use automatic gain switching pattern 1.
The gain is switched automatically from the first gain to the second gain when
2
switching condition A is satisfied. The gain is switched automatically from the
second gain to the first gain when switching condition A is not satisfied.
0 /COIN (Positioning Completion Output) signal turns ON.
1 /COIN (Positioning Completion Output) signal turns OFF.
2 /NEAR (Near Output) signal turns ON.
3 /NEAR (Near Output) signal turns OFF.
4 Position reference filter output is 0 and reference pulse input is OFF.
5 Position reference pulse input is ON.
100 to 2,000 1%
0000 to
–
1121
0 Do not use model following control.
1 Use model following control.
0 Do not perform vibration suppression.
1 Perform vibration suppression for a specific frequency.
2 Perform vibration suppression for two specific frequencies.
Do not adjust vibration suppression automatically during execu-
0 tion of autotuning without a host reference, autotuning with a
host reference, and custom tuning.
Adjust vibration suppression automatically during execution of
1 autotuning without a host reference, autotuning with a host ref-
erence, and custom tuning.
Do not use model following control and speed/torque feedfor-
0
ward together.
Use model following control and speed/torque feedforward
1
together.
10 to 20,000 0.1/s
14.1 List of Parameters
14.1.2 List of Parameters
Continued from previous page.
Default Applicable When
Setting Motors Enabled
Immedi-
0 All
ately
Immedi-
0 All
ately
Immedi-
0000 All
ately
Immedi-
2000 All
ately
Immedi-
0100 All
ately
Immedi-
500 All
ately
Continued on next page.
Classi- Refer-
fication ence
page
Tuning
8-66
page
Tuning
8-66
page
Tuning
8-66
page
Tuning
8-72
Tuning –
Reference
page 8-75
Reference
page 8-75
Reference
page 8-32
Reference
page 8-32
14
page
Tuning
8-75
14-13