YASKAWA E-II SGM H Series User Manual

10.3 Additional Functions
10-15
10
The following flowchart shows the automatic gain switching.
(1) Related Parameters
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
Parameter Meaning
Pn10B n.0 Automatic gain switching disabled (Factory setting)
n.1 Switches the gain according to the position reference condition only.
n.2 Switches the gain according to the position error condition only.
n.3 Switches the gain according to the position reference and position error condition only.
Pn124
Automatic Gain Switching Timer
Setting Range Setting Unit Factory Setting Setting Validation
1 to 10000 1 ms 100 immediately
Pn125
Automatic Gain Switching Width
Setting Range Setting Unit Factory Setting Setting Validation
1 to 250 1 Reference units 7 immediately
Position
Position
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YASKAWA E-II SGM H Series Specifications

General

Type	Servo Drives
Manufacturer	Yaskawa
Category	Servo Drives
Ambient Humidity	20% RH (non-condensing)
Vibration Resistance	5.9 m/s2 (0.6 G)
Storage Temperature	-20°C to +85°C