8.12 Additional Adjustment Functions
8.12.1 Gain Switching
8-67
Manual Gain Switching
With manual gain switching, you use G-SEL in the servo command output signals (SVCMD_IO)
to change between gain settings 1 and gain settings 2.
Automatic Gain Switching
Automatic gain switching is enabled only for position control. The switching conditions are
specified by using the following settings.
Select one of the following settings for switching condition A.
Typ e Command Name Value Meaning
Input
G-SEL in the servo command output sig-
nals (SVCMD_IO)
0 Changes the gain settings to gain settings 1.
1 Changes the gain settings to gain settings 2.
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
Parameter
Position Control Gain
Switching Condition A
For Control Methods
Other Than Position
Control (No Switching)
When
Enabled
Classification
Pn139
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.
Pn104
Pn105
Pn106
Pn122
Pn412
Pn100
Pn101
Pn102
Pn121
Pn401
Automatic Switching Pattern 1 (Pn139 = n.2)
Gain settings 1:
Condition A
satised
Condition A
not satised
Gain settings 2:
Gain Switching Time 1: Pn131
Switching Waiting Time 1: Pn135
Switching Waiting Time 2: Pn136
Gain Switching Time 2: Pn132
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