YASKAWA SGD7S-****20A Series User Manual

8.12 Additional Adjustment Functions
8.12.1 Gain Switching
8-68
 Relationship between the Waiting Times and Switching Times for Gain
Switching
In this example, an ON /COIN (Positioning Completion) signal is set as condition A for auto-
matic gain switching. The position loop gain is changed from the value in Pn102 (Position Loop
Gain) to the value in Pn106 (Second Position Loop Gain). When the /COIN signal turns ON, the
switching operation begins after the waiting time (Pn135). The switching operation changes the
position loop gain linearly from the gain set in Pn102 to the gain set in Pn106 over the switch-
ing time (Pn131).
Related Parameters
You can use gain switching for either PI control or I-P control (Pn10B = n.0 or 1).
Pn100
Speed Loop Gain
Setting Range Setting Unit Default Setting When Enabled Classification
10 to 20,000 0.1 Hz 400 Immediately Tuning
Pn101
Speed Loop Integral Time Constant
Setting Range Setting Unit Default Setting When Enabled Classification
15 to 51,200 0.01 ms 2,000 Immediately Tuning
Pn102
Position Loop Gain
Setting Range Setting Unit Default Setting When Enabled Classification
10 to 20,000 0.1/s 400 Immediately Tuning
Pn401
First Stage First Torque Reference Filter Time Constant
Setting Range Setting Unit Default Setting When Enabled Classification
0 to 65,535 0.01 ms 100 Immediately Tuning
Pn141
Model Following Control Gain
Setting Range Setting Unit Default Setting When Enabled Classification
10 to 20,000 0.1/s 500 Immediately Tuning
Pn142
Model Following Control Correction
Setting Range Setting Unit Default Setting When Enabled Classification
500 to 2,000 0.1% 1,000 Immediately Tuning
Pn121
Friction Compensation Gain
Setting Range Setting Unit Default Setting When Enabled Classification
10 to 1,000 1% 100 Immediately Tuning
Pn104
Second Speed Loop Gain
Setting Range Setting Unit Default Setting When Enabled Classification
10 to 20,000 0.1 Hz 400 Immediately Tuning
Pn105
Second Speed Loop Integral Time Constant
Setting Range Setting Unit Default Setting When Enabled Classification
15 to 51,200 0.01 ms 2,000 Immediately Tuning
Continued on next page.
Pn102
Position Loop Gain
Pn106
/COIN
Waiting
time: Pn135
Switching
time: Pn131
Second
Position Loop Gain
Switching condition A satised.
Information
Speed
Position
Speed
Position
Position
Speed
Position
Torque
Position
Position
Speed
Position
Speed
Position
Speed
Position

YASKAWA SGD7S-****20A Series Specifications

General

Brand	YASKAWA
Model	SGD7S-****20A Series
Category	Servo Drives
Language	English