YASKAWA JUSP-MD D01A Series User Manual page 232

6 Adjustments
6.6.1 Switching Gain Settings
(2) Manual Gain Switching
Manual gain switching uses an external input signal (/G-SEL) to switch between gain setting 1 and gain set-
ting 2.
Type
Input
(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
Select one of the following settings for switching condition A.
Pn139
6-38
Connector Pin
Signal Name
Number
/G-SEL Must be allocated
Switching Condition
Condition A satisfied.
n.2
Condition A not satis-
fied.
Switching Condition A
Parameter
for Position Control
n.0 Positioning completed
[Factory setting] signal (/COIN) ON
Positioning completed
n.1
signal (/COIN) OFF
Positioning near signal
n.2
(/NEAR) ON
Positioning near signal
n.3
(/NEAR) OFF
No output for position
n.4 reference filter and refer-
ence pulse input OFF
Position reference pulse
n.5
input ON
Automatic switching pattern 1 (Pn139.0 = 2)
Condition A
satisfied
Gain
Settings 1
Pn100
Pn101
Pn102
Pn121
Pn401
Switching Waiting Time 2 Pn136
Switching Time 2 Pn132
Setting
OFF Switches to gain setting 1.
ON Switches to gain setting 2.
Switching Wait
Setting
Gain setting 1 to Pn135
gain setting 2 Gain Switching
Waiting Time 1
Gain setting 2 to Pn136
gain setting 1 Gain Switching
Waiting Time 2
For Other than
Position Control
(No Switching)
Fixed in gain setting 1
Fixed in gain setting 2
Fixed in gain setting 1
Fixed in gain setting 2
Fixed in gain setting 1
Fixed in gain setting 2
Switching Waiting Time 1 Pn135
Switching Time 1 Pn131
Condition A
not satisfied
Meaning
Switching Time
Time
Pn131
Gain Switching
Time 1
Pn132
Gain Switching
Time 2
When
Classification
Enabled
Immediately Tuning
Gain
Settings 2
Pn104
Pn105
Pn106
Pn122
Pn412