Yaskawa Sigma II Series Servo System - Manual (Page 252)

Sigma II User’s Manual Chapter 6: Servo Adjustment
6 - 20
The following flowchart shows the automatic gain switching.
With or without
position reference
Automatic gain
switching enabled?
Gain switching timer
count-up
Gain switching timer
0 clear
Without
With
Position error
Gain switching timer
count-up
Gain switching timer
0 clear
Position error < Pn125
Automatic gain
switching condition
Position
reference and
Position error
Gain switching timer
count-up
Gain switching timer
0 clear
Without position reference
and
Position error < Pn125
With position reference
or
Position error ≧ Pn125
Position reference
(Pn10B.2 = 1)
Position error
(Pn10B.2 = 2)
Position reference
and position error
(Pn10.B = 3)
Disabled (Pn10B.2 = 0)
Timer > Pn124
Gain Setting 2 Gain Setting 1
YES
NO
Enabled (Pn10B.2 = 1 to 3)
Position error ≧ Pn125