Confirming The Set Gain Bank - YASKAWA SGD7S series Product Manual

6.4 Mode (Gain) Selection
6.4.2 Servo Command I/O Signals (SVCMD_IO)
Gain Adjustment in Each Gain Bank
Perform adjustments that are appropriate to each operation for the gain banks given in the fol-
lowing table.
Speed Loop Gain (Kv)
Speed Loop Integral Time Con-
stant (Ti)
Position Loop Gain (Kp)
Torque Reference Filter (Tf)
6.4.2 Servo Command I/O Signals (SVCMD_IO)
You can use G-SEL (4 bits from bit 8 to bit 11) in the MECHATROLINK-III servo command I/O
signals (SVCMD_IO) to select the operating mode and gain bank. Refer to the following section
for details.
Setting the Controls for Each Mode (Shaft Operations) on page 6-5
The allocations in G_SEL are given in the following table.
Bit 7
N_CL
Bit 15
Bit 23
Reserved.
Bit 31
6.4.3

Confirming the Set Gain Bank

You can use the SigmaWin+ tracing function to check if the gain bank that is set for each oper-
ation mode functions correctly.
Measure the trace data for the active gains, and make sure that the correct gain bank is
selected for all operations.
The numbers of the active gains on the trace displays that correspond to the set gain banks are
given in the following table.
Gain bank 0
Gain bank 1
Gain bank 2
Gain bank 3
6-6
Parameter Name
Bit 6 Bit 5
P_CL P_PPI
Bit 14 Bit 13
Reserved (0).
Bit 22 Bit 21
SO3 SO2
Bit 30 Bit 29
Active Gain Num-
Gain Bank
Gain Bank
0 1
Pn100 Pn104 Pn12B
Pn101 Pn105 Pn12C
Pn102 Pn106 Pn12D
Pn401 Pn412 Pn413
Bit 4 Bit 3
V_PPI
Bit 12 Bit 11
Bit 20 Bit 19
SO1
Bit 28 Bit 27
Reserved (0).
ber
1
2
3
4
2 3
Pn12E
Pn12F
Pn130
Pn414
Bit 2 Bit 1
Reserved (0).
Bit 10 Bit 9
G-SEL
Bit 18 Bit 17
BANK_SEL
Bit 26 Bit 25
Bit 0
Bit 8
Bit 16
Bit 24