Yaskawa SGDS Sigma III Servo Amplifier - Manual (Page 259)

8 Adjustments
8.6.6 Switching Gain Settings
8-32
(6) Switchable Gain Combinations for Less Deviation Control
Observe the following precautions when using the gain switching function.
• The gain switching function is compatible with the PI control and I-P control methods.
• The primary gain settings (Gain Settings 1) will be set if the automatic switching operation is interrupted by
the servo OFF signal or an alarm. (If manual gain switching is interrupted, the gain settings specified by/G-
SEL will be used.
(7) Related Parameters
Setting Servo Rigidity Speed Feedback Filter
Time Constant
Integral Compensation Processing Pn1A7=n. X
0 1 2 3
Gain
Settings
1 Pn1A0
Servo Rigidity Pn1A2
Speed Feedback Filter
Time Constant
No integral
compensation
Use integral
compensation.
Use integral
compensation.
No integral
compensation
Gain
Settings
2 Pn1A1
Servo Rigidity
#2 Pn1A3
Speed Feedback Filter
Time Constant #2
No integral
compensation
Use integral
compensation.
No integral
compensation
Use integral
compensation.
IMPORTANT
Parameter Function
Pn139 n. 0 Manual gain switching
n. 1 Automatic switching pattern 1
n. 0
Switching
condition
A
Positioning completion signal (/COIN) ON
n. 1 Positioning completion signal (/COIN) OFF
n. 2 Positioning near signal (/NEAR) ON
n. 3 Positioning near signal (/NEAR) OFF
n. 4 No output for position reference filter and Reference pulse input OFF
n. 5 Position reference pulse input ON
n. 0
n. 5
Switching
condition
B
Same as above.
Pn104 2nd Speed Loop Gain
Setting Range Setting Unit Factory Setting Setting Validation
1.0 to 2,000.0 Hz 0.1 Hz 40.0 Hz Immediately
Pn105 2nd Speed Loop Integral Time Constant
Setting Range Setting Unit Factory Setting Setting Validation
0.15 to 512.00 ms 0.01 ms 20.00 ms Immediately
Pn106 2nd Position Loop Gain
Setting Range Setting Unit Factory Setting Setting Validation
1.0 to 2,000.0/s 0.1/s 40.0/s Immediately
Pn412 1st Step 2nd Torque Reference Filter Time Constant
Setting Range Setting Unit Factory Setting Setting Validation
0.00 to 655.35 ms 0.01 ms 1.00 ms Immediately
Speed Position
Speed Position
Speed Position
Speed Position Torque