YASKAWA Sigma-7 SGD7S Series

Selected
Gains
Speed Loop
Gain
Speed Loop
Integral
Time Con-
stant
Position
Loop Gain
Torque Ref-
erence
Filter
Friction
Compensa-
tion Gain
Gain Set-
tings 1
Speed Loop
Gain
(Pn100)
Speed Loop
Integral Time
Constant
(Pn101)
Position
Loop Gain
(Pn102)
First Stage
First Torque
Reference
Filter Time
Constant
(Pn401)
Friction
Compensa-
tion Gain
(Pn121)
Gain Set-
tings 2
Second
Speed Loop
Gain
(Pn104)
Second
Speed Loop
Integral Time
Constant
(Pn105)
Second
Position
Loop Gain
(Pn106)
First Stage
Second
Torque Ref-
erence Filter
Time Con-
stant
(Pn412)
Second Fric-
tion Com-
pensation
Gain
(Pn122)
Note: Automatic gain switching is not supported for Model Following Control Gain and
Model Following Control Correction.
Automatic gain switching is enabled only for position control. The switching conditions are
specified by using the following settings.
Parameter Switching
Condition
Selected Gains Switching
Waiting
Time
Switching
Time
Pn139
n.2
Condition A
satisfied
Gain settings 1 to
gain settings 2
Gain
Switching
Waiting Time
1
Pn135
Gain
Switching
Time 1
Pn131
Condition A
not satisfied
Gain settings 2 to
gain settings 1
Gain
Switching
Waiting Time
2
Pn136
Gain
Switching
Time 2
Pn132
Select one of the following settings for switching condition A.
Parameter Position
Control
Gain
Switching
Condition A
For Control
Methods Other
Than Position
Control (No
Switching)
When Ena-
bled
Classifica-
tion
Pn139
n.0
(default
setting)
/COIN (Posi-
tioning Com-
pletion)
signal ON
Gain settings 1
used.
Immediately Tuning
n.1
/COIN (Posi-
tioning Com-
pletion)
signal OFF
Gain settings 2
used.
Gain Switching Combina-
tions
Automatic Gain Switching
Sigma-7 Series SERVOPACKs
Tuning
Additional Adjustment Functions > Gain Switching
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