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7.2. For More Advanced Operation
7.2.7. Automatic Gain Setting
7.2.7. Automatic Gain Switching
l This function is to switch the servo gain for positioning or stopping along the error of position
error counter.
l This is useful when the servo gain cannot be increased because of vibration caused by low
rigidity of a system while the Motor is stopping. This function lowers the gain automatically so
that the Motor does not vibrate when stopping.
l In addition, it will ensure minimum vibration in positioning by lowering the gain, and shorter
settling time by increase in the gain at stopping positioning.
Table 7-24: Parameters related to automatic gain switching
Parameter
VGL
l This function is disabled when setting of the parameter GP is GP0. In such a case, the gains for
positioning VG and VI are always used.
l If setting of the parameter GP is other than 0, the gains VG and VI are used for positioning
operation. When the Motor has stopped and the error of position error counter is less than the
setting of GP, the gains VGL and VIL for stopping are used.
l If the parameter GT is set, the gain will be switched into that of stopping state when the
deviation of position error counter remains under the GP setting for a time set by GT.
Figure 7-47: Timing of switching gain
RS-232C command or
RUN input
Position error
Switching gain
GP
Threshold to switch gain
GT
Timer to check stability for switching
VG
Velocity loop proportional gain in positioning
VI
Velocity loop Integrator frequency in positioning
Velocity loop proportional gain in stopping state
VIL
Velocity loop integrator frequency in stopping state
TG
Monitor of gain switching state
VGL，VIL
à The positioning gains VG and VI will be forcibly used when positioning command
such as Programmable Indexer, internal pulse generation by the RS-232C
communication, or the pulse train command is inputted.
à In case of a positioning with external pulse train command, the System will regard the
low frequency pulse input fewer than 2 Kpps as no input of command, and thus
causing frequent switching of the gain. In such a cases, setting timer for stabilizing
switching gain GT helps to control frequent gain switching.
à Function of lowering gain is always available. When automatic gain switching is
functioning, the velocity loop gain will be lowered along the LVG input.
(VG × LG, VGL × LG)
Function
Stability timer
＜5 ms
Example: GT5: 5 ms
VG，VI
— 7-52 —
B
B
3
3
t
t
y
y
p
p
e
e
B
B
5
5
t
t
y
y
p
p
e
e
2
3
t
y
p
e
2
5
t
y
p
e
2
3
t
y
p
e
2
5
t
y
p
e
Sipping set
GP0
GT5
VG1.0
VI1.00
VGL1.0
VIL1.00
Command to read out.
GP setting
³5 ms
VGL，VIL
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