YASKAWA SGD7S-1R9D Product Manual page 324

8.12 Additional Adjustment Functions
8.12.1 Gain Switching
Select one of the following settings for switching condition A.
Pn139
(2139
hex)
Automatic Switching Pattern 1 (Pn139 = n.2)
Gain settings 1:
Pn100
Pn101
Pn102
Pn121
Pn401
 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
8-66
Position Control Gain
Parameter
Switching Condition A
 
n. 0
/COIN (Positioning Com-
(default setting) pletion) signal ON
/COIN (Positioning Com-
 
n. 1
pletion) signal OFF
 
n. 2 /NEAR (Near) signal ON
 
n. 3 /NEAR (Near) signal OFF
Position reference filter
 
n. 4 output is 0 and position
reference input is OFF.
Position reference input is
 
n. 5
ON.
Condition A
satisfied
Switching Waiting Time 2: Pn136
Gain Switching Time 2: Pn132
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).
For Control Methods
Other Than Position
Control (No Switching)
Gain settings 1 used.
Gain settings 2 used.
Gain settings 1 used.
Gain settings 2 used.
Gain settings 1 used.
Gain settings 2 used.
Switching Waiting Time 1: Pn135
Gain Switching Time 1: Pn131
Condition A
not satisfied
Pn106
Second
Position Loop Gain
When
Enabled
Immediately
Gain settings 2:
Pn104
Pn105
Pn106
Pn122
Pn412
Classification
Tuning