YASKAWA E-7S SERVOPACK SGD7S - Page 331

8.12 Additional Adjustment Functions
8.12.1 Automatic Gain Switching
8-64
8.12 Additional Adjustment Functions
This section describes the functions that you can use to make adjustments after you perform
autotuning without a host reference, autotuning with a host reference, and custom tuning.
8.12.1 Automatic Gain Switching
You can use gain switching to shorten the positioning time by increasing the gains during posi-
tioning and suppressing vibration by decreasing the gains while stopping.
Note: Pn139 = n.1 is a reserved setting. Do not use this setting.
Gain Switching Combinations
Note: Automatic gain switching is not supported for the model following control gain and the model following con-
trol gain correction.
Switching Condition
Select one of the following settings for switching condition A.
Function Reference
Automatic Gain Switching
page 8-64
Friction Compensation
page 8-67
Current Control Mode Selection
page 8-70
Current Gain Level Setting
page 8-70
Speed Detection Method Selection
page 8-71
Backlash Compensation
page 8-71
Parameter Function When Enabled Classification
Pn139
n.0
(default setting)
Disable automatic gain switching.
Immediately Tuning
n.
2 Enable automatic gain switching.
Selected
Gains
Speed Loop
Gain
Speed Loop
Integral Time
Constant
Position Loop
Gain
Tor qu e R e f ere nc e
Filter
Friction
Compensation
Gain
Gain
Settings 1
Speed Loop
Gain (Pn100)
Speed Loop Inte-
gral Time Constant
(Pn101)
Position Loop
Gain (Pn102)
First Stage First
Torque Reference
Filter Time Con-
stant (Pn401)
Friction Com-
pensation Gain
(Pn121)
Gain
Settings 2
Second
Speed Loop
Gain (Pn104)
Second Speed
Loop Integral Time
Constant (Pn105)
Second Posi-
tion Loop Gain
(Pn106)
First Stage Second
Torque Reference
Filter Time Con-
stant (Pn412)
Second Friction
Compensation
Gain (Pn122)
Parameter
Switching
Condition
Selected Gains
Switching
Waiting Time
Switching Time
Pn139 n.2
Condition A
satisfied
Gain settings 1 to gain set-
tings 2
Gain Switching
Waiting Time 1
Pn135
Gain Switching
Time 1
Pn131
Condition A not
satisfied
Gain settings 2 to gain set-
tings 1
Gain Switching
Waiting Time 2
Pn136
Gain Switching
Time 2
Pn132