4) related parameters – Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Analog Voltage and Pulse Train Reference User Manual

Page 264

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6.8 Additional Adjustment Function

6-61

6

Adjustm

e

nts

Relationship between the Waiting and Switching Times for Gain Switching

In this example, the "positioning completed signal (/COIN) ON" condition is set as condition A for automatic
gain switching. The position loop gain is switched from the value in Pn102 (position loop gain) to the value in

Pn106 (2nd position loop gain). When the /COIN signal goes ON, the switching operation begins after the

waiting time set in Pn135. The switching operation changes the position loop gain linearly from Pn102 to
Pn106 within the switching time set in Pn131.

Note: Automatic gain switching is available in the PI and I-P controls (Pn10B).

(4) Related Parameters

Switching condition A satisfied

Switching Time

Pn131

Switching
Waiting Time

Pn135

Pn102

Position Loop Gain

Pn106
2nd Position
Loop Gain

/COIN

Pn100

Speed Loop Gain

Classification

Setting Range

Setting Unit

Factory Setting

When Enabled

10 to 20000

0.1 Hz

400

Immediately

Tuning

Pn101

Speed Loop Integral Time Constant

Classification

Setting Range

Setting Unit

Factory Setting

When Enabled

15 to 51200

0.01 ms

2000

Immediately

Tuning

Pn102

Position Loop Gain

Classification

Setting Range

Setting Unit

Factory Setting

When Enabled

10 to 20000

0.1/s

400

Immediately

Tuning

Pn401

Torque Reference Filter Time Constant

Classification

Setting Range

Setting Unit

Factory Setting

When Enabled

0 to 65535

0.01 ms

100

Immediately

Tuning

Pn141

Model Following Control Gain

Classification

Setting Range

Setting Unit

Factory Setting

When Enabled

10 to 20000

0.1/s

500

Immediately

Tuning

Pn142

Model Following Control Gain Compensation

Classification

Setting Range

Setting Unit

Factory Setting

When Enabled

500 to 2000

0.1%

1000

Immediately

Tuning

Pn121

Friction Compensation Gain

Classification

Setting Range

Setting Unit

Factory Setting

When Enabled

10 to 1000

1%

100

Immediately

Tuning

Pn104

2nd Speed Loop Gain

Classification

Setting Range

Setting Unit

Factory Setting

When Enabled

10 to 20000

0.1 Hz

400

Immediately

Tuning

Speed

Position

Speed

Position

Position

Speed

Position

Torque

Position

Position

Speed

Position

Speed

Position

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