YASKAWA E-7-Series SGD7S, Product Manual, Page: 360 / 570

8.11 Additional Adjustment Functions
8.11.1 Gain Switching
8-61
8
T
uning

Relationship between the Waiting Times and Switching Times for Gain
Switching
In this example, an ON /COIN (Positioning Completion) signal is set as condition A for auto-
matic gain switching. The position loop gain is changed from the value in Pn102 (Position Loop
Gain) to the value in Pn106 (Second Position Loop Gain). When the /COIN signal turns ON, the
switching operation begins after the waiting time (Pn135). The switching operation changes the
position loop gain linearly from the gain set in Pn102 to the gain set in Pn106 over the switch-
ing time (Pn131).
Related Parameters
You can use gain switching for either PI control or I-P control (Pn10B = n.

0

or

1

).
Pn100
Speed Loop Gain
Setting Range Setting Unit Default Setting When Enabled Classification
10 to 20,000 0.1 Hz 400 Immediately Tuning
Pn101
Speed Loop Integral Time Constant
Setting Range Setting Unit Default Setting When Enabled Classification
15 to 51,200 0.01 ms 2,000 Immediately Tuning
Pn102
Position Loop Gain
Setting Range Setting Unit Default Setting When Enabled Classification
10 to 20,000 0.1/s 400 Immediately Tuning
Pn401
First Stage First Torque Reference Filter Time Constant
Setting Range Setting Unit Default Setting When Enabled Classification
0 to 65,535 0.01 ms 100 Immediately Tuning
Pn141
Model Following Control Gain
Setting Range Setting Unit Default Setting When Enabled Classification
10 to 20,000 0.1/s 500 Immediately Tuning
Pn142
Model Following Control Correction
Setting Range Setting Unit Default Setting When Enabled Classification
500 to 2,000 0.1% 1,000 Immediately Tuning
Pn121
Friction Compensation Gain
Setting Range Setting Unit Default Setting When Enabled Classification
10 to 1,000 1% 100 Immediately Tuning
Pn104
Second Speed Loop Gain
Setting Range Setting Unit Default Setting When Enabled Classification
10 to 20,000 0.1 Hz 400 Immediately Tuning
Pn105
Second Speed Loop Integral Time Constant
Setting Range Setting Unit Default Setting When Enabled Classification
15 to 51,200 0.01 ms 2,000 Immediately Tuning
Pn102
Po s ition Loop Gain
Pn106
/COIN
Waiting
time: Pn1
3 5
S witching
time: Pn1 3 1
S econd
Po s ition Loop Gain
S witching condition A s ati s fied.
Information
Speed Position
Speed Position
Position
Speed Position Torque
Position
Position
Speed Position
Speed Position
Speed Position