Switching Gain Settings - YASKAWA E-II Series User Manual

9 Adjustments

9.4.9 Switching Gain Settings

9.4.9 Switching Gain Settings

Gain switching functions by the external signal, or by using automatic gain switching that is enabled only at posi-
tion control, are built into the SGDM/SGDH SERVOPACK. For example, to use different gains while the servo-
motor is running or stopped, set two values in the gain settings 1 and 2 and switch the gains.
(1) Gain Switching Function Using an External Input Signal
(a) Gain Switching Input Signal
Type
Input
To use the input signal, the input signal must be allocated in the parameter Pn50D. Refer to 7.3.2 Input Circuit Signal Allo-
cation.
(b) Switchable Gain Combinations
Turning ON and OFF the gain switching signal /G-SEL switches the gains as follows.
Gain Switching Signal (/G-SEL)
Speed loop gain
Speed loop integral time constant
Position loop gain
(c) Related Parameters
Parameter
Pn50A
Set to allocate the gain switching signal (/G-SEL) to an input terminal.
Pn100
Pn101
Pn102
Pn104
Pn105
Pn106
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Signal Connector Pin No.
Signal allocation
/G-SEL
required
OFF (H Level)
n. 1
Enables the input signal allocation for the sequence.
Speed Loop Gain
Setting Range
1 to 2,000
Speed Loop Integral Time Constant
Setting Range
15 to 51,200
Position Loop Gain
Setting Range
1 to 2,000
2nd Speed Loop Gain
Setting Range
1 to 2,000
2nd Speed Loop Integral Time Constant
Setting Range
15 to 51,200
2nd Position Loop Gain
Setting Range
1 to 2,000
Setting
OFF: H (high) level Gain settings 1
ON: L (low) level Gain settings 2
ON (L Level)
Pn100 Pn104
Pn101 Pn105
Pn102 Pn106
Function
Setting Unit Factory Setting
Hz
Setting Unit Factory Setting
0.01 ms
Setting Unit Factory Setting
1/s
Setting Unit Factory Setting
Hz
Setting Unit Factory Setting
0.01 ms
Setting Unit Factory Setting
1/s
Meaning
Speed Position
Setting Validation
40 Immediately
Speed Position
Setting Validation
2,000 Immediately
Speed Position
Setting Validation
40 Immediately
Speed Position
Setting Validation
40 Immediately
Speed Position
Setting Validation
2,000 Immediately
Position
Speed
Setting Validation
40 Immediately
Torque
Torque
Torque
Torque
Torque
Torque