YASKAWA SGD7S Product Manual page 321

8.12 Additional Adjustment Functions
8.12.1 Automatic Gain Switching
8.12 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.
Gain Switching
Friction Compensation
Current Control Mode Selection
Current Gain Level Setting
Speed Detection Method Selection
Backlash Compensation
8.12.1 Automatic 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.
Pn139
Note: Pn139 = n.1 is a reserved setting. Do not use this setting.
Gain Switching Combinations
Selected
Gains
Gain
Settings 1
Gain
Settings 2
Note: Automatic gain switching is not supported for the model following control gain and the model following con-
trol gain correction.
The switching condition is specified by using the following setting.
Parameter
Pn139
8-66
Function
Parameter

n. 0
Disable automatic gain switching.
(default setting)

n. 2 Enable automatic gain switching.
Speed Loop
Integral Time
Gain
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
satisfied

n. 2
Condition A not
satisfied
Reference
page 8-66
page 8-69
page 8-73
page 8-73
page 8-74
page 8-74
Function
Speed Loop
Position Loop
Gain
Constant
Position Loop
Gain (Pn102)
Second Posi-
tion Loop Gain
(Pn106)
Selected Gains
Gain settings 1 to gain set-
tings 2
Gain settings 2 to gain set-
tings 1
When Enabled Classification
Immediately
Friction
Torque Reference
Compensation
Filter
First Stage First
Friction
Torque Reference
Compensation
Filter Time Con-
Gain (Pn121)
stant (Pn401)
First Stage Second
Second Friction
Torque Reference
Compensation
Filter Time Con-
Gain (Pn122)
stant (Pn412)
Switching
Switching Time
Waiting Time
Gain Switching Gain Switching
Waiting Time 1 Time 1
Pn135 Pn131
Gain Switching Gain Switching
Waiting Time 2 Time 2
Pn136 Pn132
Tuning
Gain