YASKAWA SGDV series User Manual page 339

10 Appendix
10.1.2 Parameters
Parameter
Size
No.
Automatic Gain Changeover Related
2
Switch 1
4th 3rd 2nd 1st
digit digit digit digit
n.
Pn139
Pn13D 2 Current Gain Level
2 Model Following Control Related Switch 0000 to 1121
4th 3rd 2nd 1st
digit digit digit digit
n.
Pn140
Pn141
2 Model Following Control Gain
Model Following Control Gain Compen-
Pn142 2
sation
∗1. For details on this function, refer to the manual of the connected command option module.
10-10
Setting
Name
Range
0000 to 0052
Gain Switching Selection Switch
0
Manual gain switching
Switches between 1st gain and 2nd gain using the gain switching reference from the command option
module.
1 Reserved (Do not set.)
2 Automatic gain switching pattern 1
Changes automatically 1st gain to 2nd gain when the switching condition A is satisfied.
Changes automatically 2nd gain to 1st gain when the switching condition A is not satisfied.
Gain Switching Condition A
0
Positioning completion signal (/COIN) ON
1 Positioning completion signal (/COIN) OFF
2 Positioning near signal (/NEAR) ON
3 Positioning near signal (/NEAR) OFF
4 Position reference filter output = 0 and position reference input OFF
5
Position reference input ON
Reserved (Do not change.)
Reserved (Do not change.)
100 to 2000
Model Following Control Selection
0 Does not use model following control.
1 Uses model following control.
Vibration Suppression Selection
0
Does not perform vibration suppression.
1
Performs vibration suppression over the specified frequency.
2 Performs vibration suppression over two different kinds of frequencies.
Vibration Suppression Adjustment Selection
0 Does not adjust vibration suppression automatically using utility function.
1 Adjusts vibration suppression automatically using utility function.
Selection of Speed Feedforward (VFF) / Torque Feedforward (TFF)
0 Does not use model following control and speed/torque feedforward together.
1
Uses model following control and speed/torque feedforward together.
10 to 20000
500 to 2000
Factory When
Units
Setting Enabled
−
0000 Immediately
*1
1% 2000 Immediately
−
0100 Immediately
0.1/s 500 Immediately
0.1% 1000 Immediately
(cont'd)
Classi- Reference
fication Section
Tuning 5.8.1
Tuning 5.8.4
−
Tuning
Reference
Section
5.3.1, 5.4.1,
5.5.1, 5.7.1
Reference
Section
5.3.1, 5.4.1
−
Tuning
−
Tuning