Method To Switch The Gain; Settings For Low-Speed Feeding - YASKAWA SGD7S series Product Manual

3.4.4

Method to Switch the Gain

SERVOPACKs with Analog Voltage/Pulse Train References
First, make sure that Pn139 is set to n.
To switch between gain settings 1 and gain settings 2, use the G_SEL external input signal.
Classification
Input
*
Refer to the following manual for details.
Σ-7-Series Σ-7S SERVOPACK with Analog Voltage/Pulse Train References Product Manual
(Manual No.: SIEP S800001 26)
SERVOPACKs with MECHATROLINK-III Communications
References
First, make sure that Pn139 is set to n.
To switch between gain settings 1 and gain settings 2, use G_SEL in the servo command out-
put signals (SVCMD_IO).
Classification
Input
3.4.5

Settings for Low-speed Feeding

The tracking performance of less-deviation control is high. Therefore, if the position reference
speed input is intermittent during homing or other low-speed operations, the machine may
vibrate.
If that occurs, perform the following procedure.
SERVOPACKs with Analog Voltage/Pulse Train References
1.
Set Pn234 (Second Position Reference Acceleration/Deceleration Time Constant) to an
appropriate value.
2.
During low-speed feeding, change the gains from gain settings 1 to gain settings 2.
The setting of Pn234 is applied, the reference tracking performance decreases, and vibration is
reduced.
Position reference speed
100%
63.2%
Setting of Pn234

Signal Name Connector Pin
Must be assigned with
/G-SEL
Pn50D = n.X.*

Command Name
G_SEL in the Servo Command
Output Signals (SVCMD_IO)
Operation before filter
Operation after filter (operation with a suitable value set in Pn234)
Setting of Pn234
3.4 Adjusting Less-Deviation Control 1
0 (manual gain switching).
Setting
OFF Changes the gains to gain settings 1.
ON Changes the gains to gain settings 2.
0 (manual gain switching).
Setting
0 Changes the gains to gain settings 1.
1 Changes the gains to gain settings 2.
36.8%
Time
3.4.4 Method to Switch the Gain
Meaning
Meaning
3
3-15