YASKAWA SGMJV User Manual page 213

5 Adjustments
5.8.1 Switching Gain Settings
(2) Manual Gain Switching
Manual gain switching uses G-SEL of OPTION field to switch between gain setting 1 and gain setting 2.
Type
Input
(3) Automatic Gain Switching
Automatic gain switching is enabled only in position control. The switching conditions are specified using the
following settings.
Parameter Setting
Pn139
Select one of the following settings for switching condition A.
Pn139
Automatic Switching Pattern 1 (Pn139 = n.
Settings 1
Pn100
Pn101
Pn102
Pn121
Pn401
5-58
Command Name
G-SEL of OPTION field
Switching Condition
Condition A satisfied.
n.2
Condition A not satis-
fied.
Switching Condition A
Parameter
for Position Control
n.0
Positioning completed
[Factory setting] signal (/COIN) ON
Positioning completed
n.1
signal (/COIN) OFF
Positioning near signal
n.2
(/NEAR) ON
Positioning near signal
n.3
(/NEAR) OFF
No output for position
n.4
reference filter and posi-
tion reference input OFF
Position reference input
n.5
ON
Condition A
satisfied
Gain
Switching Waiting Time 2 Pn136
Switching Time 2 Pn132
Setting
0
1
Setting
Gain setting 1 to
gain setting 2
Gain setting 2 to
gain setting 1
For Other than
Position Control
(No Switching)
Fixed in gain setting 1
Fixed in gain setting 2
Fixed in gain setting 1
Fixed in gain setting 2
Fixed in gain setting 1
Fixed in gain setting 2
2)
Switching Waiting Time 1 Pn135
Switching Time 1 Pn131
Condition A
not satisfied
Meaning
Switches to gain setting 1.
Switches to gain setting 2.
Switching Wait
Switching Time
Time
Pn135 Pn131
Gain Switching Gain Switching
Waiting Time 1 Time 1
Pn136 Pn132
Gain Switching Gain Switching
Waiting Time 2 Time 2
When
Classification
Enabled
Immediately
Gain
Settings 2
Pn104
Pn105
Pn106
Pn122
Pn412
Tuning