YASKAWA SGD7C-***AMAA*** Product Manual page 541

Parameter
Name
No.
Automatic Gain Switch-
2
ing Selections 1
Gain Switching Selection

n. X
Gain Switching Condition A
Pn139
 
n. X
 
n. X Reserved parameter (Do not change.)

n.X Reserved parameter (Do not change.)
Pn13D 2 Current Gain Level
Model Following Con-
2
trol-Related Selections
Model Following Control Selection

n. X
Vibration Suppression Selection
 
n. X
Pn140
Vibration Suppression Adjustment Selection
 
n. X
Speed Feedforward (VFF)/Torque Feedforward (TFF) Selection

n.X
Model Following Con-
Pn141 2
trol Gain
Model Following Con-
Pn142 2
trol Gain Correction
Model Following Con-
Pn143 2 trol Bias in the Forward
Direction
Setting Setting
Range Unit
0000h to
–
0052h
Use manual gain switching.
0
The gain is switched manually with bit 4 in OW01 (Gain Switch).
1 Reserved setting (Do not use.)
Use automatic gain switching pattern 1.
The gain is switched automatically from the first gain to the second gain when
2
switching condition A is satisfied. The gain is switched automatically from the
second gain to the first gain when switching condition A is not satisfied.
0 /COIN (Positioning Completion Output) signal turns ON.
1 /COIN (Positioning Completion Output) signal turns OFF.
2 /NEAR (Near Output) signal turns ON.
3 /NEAR (Near Output) signal turns OFF.
4 Position reference filter output is 0 and position reference input is OFF.
5 Position reference input is ON.
100 to 2,000 1%
0000h to
–
1121h
0 Do not use model following control.
1 Use model following control.
0 Do not perform vibration suppression.
1 Perform vibration suppression for a specific frequency.
2 Perform vibration suppression for two specific frequencies.
Do not adjust vibration suppression automatically during execu-
0 tion of autotuning without a host reference, autotuning with a
host reference, and custom tuning.
Adjust vibration suppression automatically during execution of
1 autotuning without a host reference, autotuning with a host ref-
erence, and custom tuning.
Do not use model following control and speed/torque feedfor-
0
ward together.
Use model following control and speed/torque feedforward
1
together.
10 to 20,000 0.1/s
500 to 2,000 0.1%
0 to 10,000 0.1%
11.1 List of Servo Parameters
11.1.2 List of Servo Parameters
Continued from previous page.
Default Applicable When
Setting Motors Enabled
Immedi-
0000h All
ately
Immedi-
2000 All
ately
Immedi-
0100h All
ately
Immedi-
500 All
ately
Immedi-
1000 All
ately
Immedi-
1000 All
ately
Continued on next page.
Classi- Refer-
fication ence
page
Tuning
8-64
page
Tuning
8-71
Tuning –
Reference
page 8-81
Reference
page 8-81
Reference
page 8-31
Reference
page 8-32,
page 8-57
page
Tuning
8-81
page
Tuning
8-64
11
page
Tuning
8-81
11-9