Additional Adjustment Functions; Gain Switching - YASKAWA SGD7S-xxxDA0 series Product Manual

9.12

Additional Adjustment Functions

This section describes the functions that you can use to make adjustments after you perform
autotuning without a host reference, autotuning with a host reference, and custom tuning.
Function

Gain Switching

Friction Compensation
Current Control Mode Selection
Current Gain Level Setting
Speed Detection Method Selection Position control, speed control, or torque control
Backlash Compensation
*
Automatic gain switching is enabled only for position control.
9.12.1

Gain Switching

You can use gain switching to shorten the positioning time by increasing the gains during posi-
tioning and suppressing vibration by decreasing the gains while stopping.
Parameter

n.
Pn139
(default setting)
(2139h)

n.
Note: Pn139 = n.1 is a reserved setting. Do not use this setting.
Refer to the following section for gain switching combinations.
Gain Switching Combinations on page 9-65
Gain Switching Combinations
Selected
Gains
Gain
Settings 1
Gain
Settings 2
Note: Automatic gain switching is not supported for Model Following Control Gain and Model Following Control
Correction.
Automatic Gain Switching
Automatic gain switching is enabled only for position control. The switching conditions are
specified by using the following settings.
Parameter
Pn139

n.
(2139h)
Position control, speed control, or torque control*
Position control or speed control
Position control, speed control, or torque control
Position control or speed control
Position Control
0
Disable automatic gain switching.
2 Enable automatic gain switching.
Speed Loop
Speed Loop
Integral Time
Gain
Constant
Speed Loop Inte-
Speed Loop
gral Time Constant
Gain (Pn100)
(Pn101)
Second Second Speed
Speed Loop Loop Integral Time
Gain (Pn104) Constant (Pn105)
Switching
Condition
Condition A Gain settings 1 to gain set-
satisfied tings 2
2
Condition A not Gain settings 2 to gain set-
satisfied tings 1

9.12 Additional Adjustment Functions

Applicable Control Methods
Function
Position Loop Torque Reference
Gain
First Stage First
Position Loop Torque Reference
Gain (Pn102) Filter Time Con-
stant (Pn401)
First Stage Second
Second Posi-
Torque Reference
tion Loop Gain
Filter Time Con-
(Pn106)
stant (Pn412)
Selected Gains
Waiting Time
Gain Switching
Waiting Time 1
Pn135
Gain Switching
Waiting Time 2
Pn136
9.12.1 Gain Switching
Reference
page 9-65
page 9-68
page 9-70
page 9-71
page 9-71
page 9-72
When Enabled Classification
Immediately Tuning
Friction
Compensation
Filter
Gain
Friction Com-
pensation Gain
(Pn121)
Second Friction
Compensation
Gain (Pn122)
Switching
Switching Time
Gain Switching
Time 1
Pn131
Gain Switching
Time 2
Pn132
9
9-65