Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - MECHATROLINK-II Communications Reference - Manual (Page 209)

5 Adjustments
5.8.1 Switching Gain Settings
5-56
5.8 Additional Adjustment Function
This section describes the functions that can be used for additional fine tuning after making adjustments with
advanced autotuning, advanced autotuning by reference, or one-parameter tuning.
• Switching gain settings
• Friction compensation
• Current control mode selection
• Current gain level setting
• Speed detection method selection
5.8.1 Switching Gain Settings
Two gain switching functions are available, manual switching and automatic switching. The manual switching
function uses an external input signal to switch gains, and the automatic switching function switches gains
automatically.
By using the gain switching function, the positioning time can be shortened by increasing the gain during posi-
tioning and vibration can be suppressed by decreasing the gain while it is stopped.
Note: n. 1 is reserved. Do not use.
For the gain combinations for switching, refer to (1) Gain Combinations for Switching.
For the manual gain switching, refer to (2) Manual Gain Switching.
For the automatic gain switching, refer to (3) Automatic Gain Switching.
(1) Gain Combinations for Switching
∗ The switching gain settings for the model following control gain and the model following control gain compensation
are available only for manual gain switching. To enable the gain switching of these parameters, a gain switching input
signal must be sent, and the following conditions must be met.
• No command being executed.
• Motor having been completely stopped.
If these conditions are not satisfied, the applicable parameters will not be switched although the other parameters
shown in this table will be switched.
Parameter Function When Enabled Classification
Pn139
n. 0
[Factory setting]
Manual gain switching
Immediately Tuning
n. 2 Automatic gain switching
Setting
Speed Loop
Gain
Speed Loop
Integral Time
Constant
Position Loop
Gain
Torque Refer-
ence Filter
Model Follow-
ing Control
Gain
Model Follow-
ing Control
Gain Compen-
sation
Friction Com-
pensation
Gain
Gain
Setting 1
Pn100
Speed Loop
Gain
Pn101
Speed Loop
Integral Time
Constant
Pn102
Position Loop
Gain
Pn401
Torque Refer-
ence Filter Time
Constant Pn141 *
Model Follow-
ing Control
Gain
Pn142 *
Model Follow-
ing Control
Gain Compen-
sation Pn121
Friction Com-
pensation Gain
Gain
Setting 2
Pn104
2nd Speed Loop
Gain
Pn105
2nd Speed Loop
Integral Time
Constant
Pn106
2nd Position
Loop Gain
Pn412
1st Step 2nd
Torque Refer-
ence Filter Time
Constant
Pn148 *
2nd Model Fol-
lowing Control
Gain
Pn149 *
2nd Model Fol-
lowing Control
Gain Compen-
sation
Pn122
2nd Gain for
Friction
Compensation