Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Manual (Page 189)

5 Adjustments
5.8.1 Switching Gain Settings
5-52
(3) Automatic Gain Switching
Automatic gain switching is performed under the following settings and conditions.
Select one of the following setting for switching condition A.
Parameter Setting Switching Setting Setting
Switching Wait
Time
Switching Time
Pn139 = n. 2
(Automatic Switching)
Condition A established. Gain Setting 1 to
Gain Setting 2 Gain Switching
Waiting Time 1
Pn135 Gain Switching
Time 1
Pn131
Condition A not estab-
lished. Gain Setting 2 to
Gain Setting 1 Gain Switching
Waiting Time 2
Pn136 Gain Switching
Time 2
Pn132
Parameter
Switching Condition A
When
Enabled
Classification
Position Control
Other than Position
Control
Pn139
n. 0
Positioning completed
signal (/COIN) ON
Fixed in gain setting 1
Immediately Tuning
n. 1
Positioning completed
signal (/COIN) OFF
Fixed in gain setting 2
n. 2
Near signal mapping
(/NEAR) ON
Fixed in gain setting 1
n. 3
Near signal mapping
(/NEAR) OFF
Fixed in gain setting 2
n. 4
No output for position
reference filter and refer-
ence pulse input OFF
Fixed in gain setting 1
n. 5
Position reference pulse
input ON
Fixed in gain setting 2
Gain
Settings 2
Pn104
Pn105
Pn106
Pn122
Pn412
Condition A
established
Condition
A not established
Gain Switching Waiting Time 1 Pn135
Gain Switching Time 1 Pn131
Gain Switching Waiting Time 2 ޓPn136
Gain Switching Time 2 ޓPn132
Gain
Settings 1
Pn100
Pn101
Pn102
Pn121
Pn401
Automatic switching pattern 1 (Pn139.0 = 2)