YASKAWA Sigma-V Series User Manual page 194

(2) Manual Gain Switching
Manual gain switching uses G-SEL of OPTION field to switch between gain setting 1 and gain setting 2.
Type Command Name
Input
G-SEL of OPTION field
(3) Automatic Gain Switching
Automatic gain switching is enabled only in position control. The switching conditions are specified using the
following settings.
Parameter Setting
Pn139 n.2
Select one of the following settings for switching condition A.
Parameter
n.0
[Factory setting]
n.1
n.2
Pn139
n.3
n.4
n.5
Automatic switching pattern 1 (Pn139.0 = 2)
Gain
Settings 1
Pn100
Pn101
Pn102
Pn121
Pn401
Setting
0 Switches to gain setting 1.
1 Switches to gain setting 2.
Switching Condition
Condition A satisfied. Gain setting 1 to
gain setting 2
Condition A not satis- Gain setting 2 to
fied. gain setting 1
Switching Condition A
for Position Control
Positioning completed
Fixed in gain setting 1
signal (/COIN) ON
Positioning completed
Fixed in gain setting 2
signal (/COIN) OFF
Positioning near signal
Fixed in gain setting 1
(/NEAR) ON
Positioning near signal
Fixed in gain setting 2
(/NEAR) OFF
No output for position
reference filter and posi- Fixed in gain setting 1
tion reference input OFF
Position reference input
Fixed in gain setting 2
ON
Switching Waiting Time 1 Pn135
Condition A
Switching Time 1 Pn131
satisfied
Switching Waiting Time 2 Pn136
Switching Time 2 Pn132
5.6 Additional Adjustment Function
Meaning
Switching Wait
Setting
Time
Pn135
Gain Switching
Waiting Time 1
Pn136
Gain Switching
Waiting Time 2
For Other than
When
Position Control
Enabled
(No Switching)
Immediately
Settings 2
Pn104
Pn105
Pn106
Pn122
Pn412
Condition A
not satisfied
Switching Time
Pn131
Gain Switching
Time 1
Pn132
Gain Switching
Time 2
Classification
Tuning
Gain
5-37
5