YASKAWA SGDV SERVOPACK, User Manual

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6 Adjustments
6.8.1 Switching Gain Settings
6-58

Relationship between the Waiting and Switching Times for Gain Switching
In this example, the "positioning completed signal (/COIN) ON" condition is set as condition A for automatic
gain switching. The position loop gain is switched from the value in Pn102 (position loop gain) to the value in
Pn106 (2nd position loop gain). When the /COIN signal goes ON, the switching operation begins after the
waiting time set in Pn135. The switching operation changes the position loop gain linearly from Pn102 to
Pn106 within the switching time set in Pn131.
Note: Automatic gain switching is available in the PI and I-P controls (Pn10B).
(4) Related Parameters
Switching condition A satisfied
Switching Time
Pn131
Switching
Waiting Time
Pn135
Pn102
Position Loop Gain
Pn106
2nd Position
Loop Gain
/COIN
Pn100
Speed Loop Gain
Classification
Setting Range Setting Unit Factory Setting When Enabled
10 to 20000 0.1 Hz 400 Immediately Tuning
Pn101
Speed Loop Integral Time Constant
Classification
Setting Range Setting Unit Factory Setting When Enabled
15 to 51200 0.01 ms 2000 Immediately Tuning
Pn102
Position Loop Gain
Classification
Setting Range Setting Unit Factory Setting When Enabled
10 to 20000 0.1/s 400 Immediately Tuning
Pn401
Force Reference Filter Time Constant
Classification
Setting Range Setting Unit Factory Setting When Enabled
0 to 65535 0.01 ms 100 Immediately Tuning
Pn141
Model Following Control Gain
Classification
Setting Range Setting Unit Factory Setting When Enabled
10 to 20000 0.1/s 500 Immediately Tuning
Pn142
Model Following Control Gain Compensation
Classification
Setting Range Setting Unit Factory Setting When Enabled
500 to 2000 0.1% 1000 Immediately Tuning
Pn121
Friction Compensation Gain
Classification
Setting Range Setting Unit Factory Setting When Enabled
10 to 1000 1% 100 Immediately Tuning
Pn104
2nd Speed Loop Gain
Classification
Setting Range Setting Unit Factory Setting When Enabled
10 to 20000 0.1 Hz 400 Immediately Tuning
Speed
Position
Speed
Position
Position
Speed
Position
Force
Position
Position
Speed
Position
Speed
Position