YASKAWA Sigma-7 SGD7S Series

Function Applicable Control Methods Reference
Current Control Mode
Selection
Position control, speed control, or torque
control
Ä Chap. 9.13.5
‘Current Control
Mode Selection’
page 398
Current Gain Level Set-
ting
Position control or speed control
Ä Chap. 9.13.6
‘Current Gain
Level Setting’
page 399
Speed Detection Method
Selection
Position control, speed control, or torque
control
Ä Chap. 9.13.7
‘Speed Detec-
tion Method
Selection’
page 399
Backlash Compensation Position Control
Ä Chap. 9.13.9
‘Backlash Com-
pensation’
page 400
* Automatic gain switching is enabled only for position control.
9.13.2 Gain Switching
You can use gain switching to shorten the positioning time by increasing the gains during
positioning and suppressing vibration by decreasing the gains while stopping.
Parameter Meaning When Enabled Classification
Pn139
n.0
(default
setting)
Disable automatic gain
switching.
Immediately Tuning
n.2
Enable automatic gain
switching.
Note: Pn139 = n.1 is a reserved setting. Do not use this setting.
Refer to the following section for gain switching combinations.
Ä ‘Gain Switching Combinations’ page 390
Sigma-7 Series SERVOPACKs
Tuning
Additional Adjustment Functions > Gain Switching
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