YASKAWA E-V Series User Manual page 242

(2) Manual Gain Switching
Manual gain switching uses an external input signal (/G-SEL1) to switch gain setting 1 and gain setting 2.
Parameter Setting
Pn139=n. 0
Manual Gain
Switching
(3) Automatic Gain Switching
Automatic gain switching is performed under the following settings and conditions.
Parameter Setting
Pn139=n. 2
(Automatic Switching
Pattern 1)
Automatic switching pattern 1 (Pn139.0 = 2)
Gain
Settings 1
Pn100
Pn101
Pn102
Pn121
Pn401
Note: For the gains if the control is changed from position control to another method using the control switching function,
refer to switching condition-A selection described in (5) Parameters for Automatic Gain Switching.
Relationship between the Gain Switching Waiting Time and the Switching Time Constant
In this example, the "positioning completion signal (/COIN) ON" condition is set as condition A for automatic
gain switching pattern 1. 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 over the switching time set in Pn131.
Position Loop Gain
<Note>
Automatic gain switching is available in the PI and I-P controls.
Switching Setting
OFF (H level)
ON (L level)
Switching Setting
Condition A established.
Pn139= X
Condition A not estab-
lished.
Pn139= X
Switching Waiting Time 1 Pn135
Condition A
established
Switching Waiting Time 2 Pn136
Switching Time 2 Pn132
Switching
Waiting Time
Switching Time
Pn135
Pn102
/COIN
Switching condition A established
6.8 Servo Gain Adjustment Application Function
Setting
Gain Setting 1
Gain Setting 2
Switching Wait
Setting
Time
Gain Setting 1 to Gain Switching
Gain Setting 2 Waiting Time 1
Pn135
Gain Setting 2 to Gain Switching
Gain Setting 1 Waiting Time 2
Pn136
Switching Time 1 Pn131
Condition
A not established
Pn131
Pn106
2nd Position
Loop Gain
Switching Time
Gain Switching
Time 1
Pn131
Gain Switching
Time 2
Pn132
Gain
Settings 2
Pn104
Pn105
Pn106
Pn122
Pn412
6-61
6