YASKAWA Sigma-V Series User Manual page 195

5 Adjustments
5.6.1 Switching Gain Settings
 Relationship between the Waiting and Switching Times for Gain Switching
In this example, the "positioning completed signal (/COIN) ON" condition is set as condition A for automatic
gain switching. 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 within the switching time set in Pn131.
Note: Automatic gain switching is available in the PI and I-P controls (Pn10B).
(4) Related Parameters
Pn100
Pn101
Pn102
Pn401
Pn141
Pn142
Pn121
Pn104
5-38
Pn102
Position Loop Gain
/COIN
Switching condition A satisfied
Speed Loop Gain
Setting Range
10 to 20000
Speed Loop Integral Time Constant
Setting Range
15 to 51200
Position Loop Gain
Setting Range
10 to 20000
Torque Reference Filter Time Constant
Setting Range
0 to 65535
Model Following Control Gain
Setting Range
10 to 20000
Model Following Control Gain Compensation
Setting Range
500 to 2000
Friction Compensation Gain
Setting Range
10 to 1000
2nd Speed Loop Gain
Setting Range
10 to 20000
Switching
Waiting Time
Switching Time
Pn135 Pn131
Pn106
2nd Position
Loop Gain
Setting Unit Factory Setting
0.1 Hz
Setting Unit Factory Setting
0.01 ms 2000
Setting Unit Factory Setting
0.1/s
Speed
Setting Unit Factory Setting
0.01 ms
Setting Unit Factory Setting
0.1/s
Setting Unit Factory Setting
0.1% 1000
Setting Unit Factory Setting
1%
Setting Unit Factory Setting
0.1 Hz
Position
Speed
When Enabled
400 Immediately
Speed Position
When Enabled
Immediately
Position
When Enabled
400 Immediately
Position Torque
When Enabled
100 Immediately
Position
When Enabled
500 Immediately
Position
When Enabled
Immediately
Position
Speed
When Enabled
100 Immediately
Speed Position
When Enabled
400 Immediately
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning