YASKAWA E-7-Series SGD7S Product Manual page 360

 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).
Waiting
time: Pn135
Pn102
Position Loop Gain
/COIN
Switching condition A satisfied.
You can use gain switching for either PI control or I-P control (Pn10B = n.0 or 1).
Information
Related Parameters
Speed Loop Gain
Pn100 Setting Range
10 to 20,000
Speed Loop Integral Time Constant
Pn101 Setting Range
15 to 51,200
Position Loop Gain
Pn102 Setting Range
10 to 20,000
First Stage First Torque Reference Filter Time Constant
Pn401 Setting Range
0 to 65,535
Model Following Control Gain
Pn141 Setting Range
10 to 20,000
Model Following Control Correction
Pn142 Setting Range
500 to 2,000
Friction Compensation Gain
Pn121 Setting Range
10 to 1,000
Second Speed Loop Gain
Pn104 Setting Range
10 to 20,000
Second Speed Loop Integral Time Constant
Pn105 Setting Range
15 to 51,200
Switching
time: Pn131
Pn106
Second
Position Loop Gain
Setting Unit Default Setting
0.1 Hz
Setting Unit Default Setting
0.01 ms
Setting Unit Default Setting
0.1/s
Setting Unit Default Setting
0.01 ms
Setting Unit Default Setting
0.1/s
Setting Unit Default Setting
0.1%
Setting Unit Default Setting
1%
Setting Unit Default Setting
0.1 Hz
Setting Unit Default Setting
0.01 ms
8.11 Additional Adjustment Functions
Speed
When Enabled
400 Immediately
Speed
When Enabled
2,000 Immediately
When Enabled
400 Immediately
Speed
When Enabled
100 Immediately
When Enabled
500 Immediately
When Enabled
1,000 Immediately
Speed
When Enabled
100 Immediately
Speed
When Enabled
400 Immediately
Speed
When Enabled
2,000 Immediately
8.11.1 Gain Switching
Position
Classification
Tuning
Position
Classification
Tuning
Position
Classification
Tuning
Position Torque
Classification
Tuning
Position
Classification
Tuning
Position
Classification
Tuning
Position
Classification
Tuning
Position
Classification
Tuning
Position
Classification
Tuning
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