YASKAWA E-V-MD Series User Manual page 211

8 Adjustments
8.8.1 Switching Gain Settings
(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
Automatic switching pattern 1 (Pn139.0 = 2)
Gain
Settings 1
PnAC2
PnAC4
PnAC6
Pn121
Pn401
 Gain Switching Waiting Time
In this example, the completion of positioning is set as the condition for automatic gain switching. The posi-
tion loop gain is switched from the value in PnAC6 (position loop gain) to the value in Pn106 (2nd position
loop gain). The switching condition is the completion of positioning, and the switching operation begins after
the waiting time set in Pn135. The switching operation changes the position loop gain from PnAC6 to Pn106.
Note: Automatic gain switching is available in the PI and I-P controls (Pn10B).
8-78
Switching Condition
Condition A satisfied.
n.2
Condition A not satisfied.
Switching Condition A for
Parameter
Position Control
n.0 Positioning completed signal
[Factory setting] ON
Positioning completed signal
n.1
OFF
n.2 Positioning near signal ON
n.3 Positioning near signal OFF Fixed in gain setting 2
No output for position refer-
n.4
ence filter and position refer-
ence input OFF
n.5 Position reference input ON Fixed in gain setting 2
Condition A
satisfied
Switching Waiting
Time 2 Pn136
PnAC6
Position Loop Gain
Positioning
completed
Gain switching condition satisfied.
Gain setting 1 to gain setting 2
Gain setting 2 to gain setting 1
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 1
Switching Waiting
Time 1 Pn135
Condition A
not satisfied
Switching Waiting Time
Pn135
Setting Switching Wait Time
Pn135
Gain Switching Wait-
ing Time 1
Pn136
Gain Switching Wait-
ing Time 2
When
Enabled
Tuning
Gain
Settings 2
Pn104
Pn105
Pn106
Pn122
Pn412
Pn106
2nd Position
Loop Gain
Classificatio
n
Tuning