SD710 Series Servo Drive Technical Manual Chapter 6 Adjustment
17
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The gain switching of Model Tracking Control Gain and Model Tracking Control
Attenuation Coefficient is only available for "Manual Gain Switching".
●
The gain switching of model tracking control gain and model tracking control attenuation
coefficient is only effective when the drive is not commanded and the motor is stopped.
Gain switching method.
⚫
Manual switching.
⚫
Automatic switching.
For manual switching, you need to configure external input signal to control gain switching, and for automatic switching,
you need to set the switching conditions and judge whether to switch according to the conditions.
(1) Manual switching
Related input signals
Value
Symbolic
Function
Instructions
Trigger
Mode
0x0E
/G-SEL
Gain
Switching
This signal is used to switch the
selection of the two gain bands for the
speed and position modes.
Invalid: switch to gain 1.
Valid: switch to gain 2.
Level
trigger
□
P
□
S
□
T
(2) Automatic switching
The "Auto switching gain" is only valid for position control, and the switching condition is executed by the following
settings.
Parameters
Toggle condition
Switching gain
Switching wait time
Switching time
Pn110.Y setting
corresponds to
switching condition A
Condition A holds
Gain 1
→
Gain 2
Waiting time 1
(Pn114)
Switching transition
time 1
(Pn112)
Condition A does not
hold
Gain 2
→
Gain 1
Waiting time 2
(Pn115)
Switching transition
time 2
(Pn113)
Example
: In the automatic gain switching mode with the position completion signal (/COIN) ON, assume that the gain is
switched from the position loop gain Pn103 to the second position loop gain Pn107. The /COIN signal of the switching
condition is ON, and after waiting for the waiting time Pn114 from the time when the switching condition is established,
the gain is changed linearly from Pn103 to Pn107 during the switching time Pn112.
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