Additional Adjustment Function; Switching Gain Settings - YASKAWA SGDV series User Manual

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 reference, 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 switching
function uses an external input command to switch gains, and the automatic switching function switches gains
automatically.
By using the gain switching function, the positioning time can be shortened by increasing the gain during posi-
tioning and vibration can be suppressed by decreasing the gain while it is stopped.
Parameter
n.
[Factory setting]
Pn139
n.
Note: n. 1 is reserved. Do not use.
For the gain combinations for switching, refer to (1) Gain Combinations for Switching.
For the manual gain switching, refer to the manual of the command option module to be connected.
For the automatic gain switching, refer to (3) Automatic Gain Switching.
(1) Gain Combinations for Switching
Speed Loop
Setting Integral Time
Gain
Pn101
Pn100
Gain
Speed Loop
Speed Loop
Setting 1
Integral Time
Gain
Constant
Pn105
Pn104
Gain 2nd Speed Loop
2nd Speed Loop
Setting 2 Integral Time
Gain
Constant
∗
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, the applicable parameters will not be switched although the other parameters
shown in this table will be switched.
0
Manual gain switching
2 Automatic gain switching
Speed Loop
Position Loop
Gain
Constant
Pn102
Position Loop
Gain
Pn106
2nd Position
Loop Gain
Function
Torque Refer- Model
ence Following
Filter Control Gain
*
Pn401
Pn141
Torque Refer-
Model Follow-
ence Filter Time
ing Control
Constant
Gain
Pn412
*
Pn148
1st Step 2nd
2nd Model Fol-
Torque Refer-
lowing Control
ence Filter Time
Gain
Constant

5.8 Additional Adjustment Function

When Enabled Classification
Immediately Tuning
Model
Friction
Following
Compensation
Control Gain
Gain
Compensation
*
Pn142
Pn121
Model Follow-
Friction Com-
ing Control
pensation Gain
Gain Compen-
sation
*
Pn149
Pn122
2nd Model Fol-
2nd Gain for
lowing Control
Friction
Gain Compen-
Compensation
sation
5
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