YASKAWA Sigma-II Series, Руководство пользователя

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10.3 Additional Functions
10-13
10
Upgraded V
ersions
10.3.5 Automatic Gain Switching Function
The automatic gain switching function switches the gain setting between the gain setting 1 and 2 according to the
condition:
Whether position reference is specified or not, or
Position error level, or
AND logic of the above two conditions
The position reference of the automatic gain switching condition indicates the reference pulses from CN1.
Note that the automatic gain switching function is disabled for the control modes other than position control.
And, the real-time autotuning function is disabled while gain setting 2 is selected.
The existing gain switching function by /G-SEL signal is also available. However, it cannot be used with the
automatic gain switching function.
Note that automatic gain switching function is enabled only in position control mode. In the control modes other
than position control, gain setting 1 is used.
When the automatic gain switching is enabled by setting 1 to 3 of Pn10B.2, the gain switching function by /G-
SEL signal is disabled.
The following flowchart shows the automatic gain switching.
Gain Switching
Gain Setting 1 Gain Setting 2
Pn100: Speed loop gain
Ù
Pn104: Speed loop gain #2
Pn101: Speed loop integral time constant Pn105_Speed loop integral time constant #2
Pn102: Position loop gain Pn106_Position loop gain #2
With or without
position reference
Automatic gain
switching enabled?
Gain switching timer
count-up
Gain switching timer
0 clear
Without
With
Position error
Gain switching timer
count-up
Gain switching timer
0 clear
Position error < Pn125
Automatic gain
switching condition
Position
reference and
Position error
Gain switching timer
count-up
Gain switching timer
0 clear
Without position reference
and
Position error < Pn125
With position reference
or
Position error
≥
Pn125
Position reference
(Pn10B.2 = 1)
Position error
(Pn10B.2 = 2)
Position reference
and position error
(Pn10.B = 3)
Disabled (Pn10B.2 = 0)
Timer > Pn124
Gain Setting 2
Gain Setting 1
YES
NO
Enabled (Pn10B.2 = 1 to 3)
Position error
≥
Pn125
End