YASKAWA SGMJV User Manual page 214

 Relationship between the Waiting and Switching Times for Gain Switching
In this example, the "positioning completed signal (/COIN) ON" condition is set as condition A for automatic
gain switching. The position loop gain is switched from the value in Pn102 (position loop gain) to the value in
Pn106 (2nd position loop gain). When the /COIN signal goes ON, the switching operation begins after the
waiting time set in Pn135. The switching operation changes the position loop gain linearly from Pn102 to
Pn106 within the switching time set in Pn131.
Position Loop Gain
Note: Automatic gain switching is available in the PI and I-P controls (Pn10B).
(4) Related Parameters
Speed Loop Gain
Pn100
Setting Range
10 to 20000
Speed Loop Integral Time Constant
Pn101
Setting Range
15 to 51200
Position Loop Gain
Pn102
Setting Range
10 to 20000
Torque Reference Filter Time Constant
Pn401
Setting Range
0 to 65535
Model Following Control Gain
Pn141
Setting Range
10 to 20000
Model Following Control Gain Compensation
Pn142
Setting Range
500 to 2000
Friction Compensation Gain
Pn121
Setting Range
10 to 1000
2nd Speed Loop Gain
Pn104
Setting Range
10 to 20000
Switching
Waiting Time
Switching Time
Pn135
Pn102
/COIN
Switching condition A satisfied
Setting Unit
0.1 Hz
Setting Unit
0.01 ms
Setting Unit
0.1/s
Setting Unit
0.01 ms
Setting Unit
0.1/s
Setting Unit
0.1%
Setting Unit
1%
Setting Unit
0.1 Hz
5.8 Additional Adjustment Function
Pn131
Pn106
2nd Position
Loop Gain
Position
Speed
Factory Setting When Enabled
400 Immediately
Position
Speed
Factory Setting When Enabled
2000 Immediately
Position
Factory Setting When Enabled
400 Immediately
Position
Speed Torque
Factory Setting When Enabled
100 Immediately
Position
Factory Setting When Enabled
500 Immediately
Position
Factory Setting When Enabled
1000 Immediately
Speed Position
Factory Setting When Enabled
100 Immediately
Speed Position
Factory Setting When Enabled
400 Immediately
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
5
Classification
Tuning
Classification
Tuning
Classification
Tuning
5-59