YASKAWA SGDV-OCA05A

8.12 Additional Adjustment Functions
8.12.1 Automatic Gain Switching
8
Tuning
8-67
Select one of the following settings for switching condition A.
 Relationship between the Waiting Times and Switching Times for Gain
Switching
In this example, an ON /COIN (Positioning Completion Output) signal is set as the condition for
automatic 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 switching time (Pn131).
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 Output) signal
turns ON.
Gain settings 1 used.
Immediately Tuning
n.
1
/COIN (Positioning Com-
pletion Output) signal
turns OFF.
Gain settings 2 used.
n.2
/NEAR (Near Output) sig-
nal turns ON.
Gain settings 1 used.
n.
3
/NEAR (Near Output) sig-
nal turns 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.
/COIN (Positioning Completion Output) Signal and /NEAR (Near Output) Signal
A SERVOPACK with a DeviceNet Module does not have /COIN (Positioning Completion Out-
put) and /NEAR (Near Output) signals. Here, the following conditions are treated as the active
signal status.
• /COIN (Positioning Completion Output) signal: The conditions for both Pn522 (Positioning
Completed Width) and Pn207 (/COIN (Positioning Completion Output) Signal Output Tim-
ing) have been met.
• /NEAR (Near Output) signal: The current condition is equal to or less than the setting of
Pn524 (Near Signal Width).
Pn104
Pn105
Pn106
Pn122
Pn412
Pn100
Pn101
Pn102
Pn121
Pn401
Automatic Switching Pattern 1 (Pn139 = n.2)
Gain settings 1:
Condition A
satised
Condition A
not satised
Gain settings 2:
Gain Switching Time 1: Pn131
Switching Waiting Time 1: Pn135
Switching Waiting Time 2: Pn136
Gain Switching Time 2: Pn132
Information