9.12 Additional Adjustment Functions
9.12.1 Gain Switching
9-66
Select one of the following settings for switching condition A.
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).
Parameter
Position Control Gain
Switching Condition A
For Control Methods
Other Than Position
Control (No Switching)
When
Enabled
Classification
Pn139
(2139h)
n.
0
(default setting)
/COIN (Positioning Com-
pletion) signal ON
Gain settings 1 used.
Immediately Tuning
n.
1
/COIN (Positioning Com-
pletion) signal OFF
Gain settings 2 used.
n.
2
/NEAR (Near) signal ON
Gain settings 1 used.
n.
3
/NEAR (Near) signal OFF
Gain settings 2 used.
n.
4
Position reference filter
output is 0 and position
reference input is OFF.
Gain settings 1 used.
n.
5
Position reference input is
ON.
Gain settings 2 used.
You can use gain switching for either PI control or I-P control (Pn10B = n.
0
or
1
).
Pn104
Pn105
Pn106
Pn122
Pn412
Pn100
Pn101
Pn102
Pn121
Pn401
Automatic Switching Pattern 1 (Pn139 = n.
2)
Gain settings 1:
Condition A
satisfied
Condition A
not satisfied
Gain settings 2:
Gain Switching Time 1: Pn131
Switching Waiting Time 1: Pn135
Switching Waiting Time 2: Pn136
Gain Switching Time 2: Pn132
Pn102
Position Loop Gain
Pn106
/COIN
Waiting
time: Pn135
Switching
time: Pn131
Second
Position Loop Gain
Switching condition A satisfied.
Information
