Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Analog Voltage and Pulse Train Reference - Manual (Page 265)

6 Adjustments
6.8.1 Switching Gain Settings
6-62
(5) Parameters for Automatic Gain Switching
(6) Related Monitor
Note: When using the tuning-less function, gain setting 1 is enabled.
Pn105
2nd Speed Loop Integral Time Constant
Classification
Setting Range Setting Unit Factory Setting When Enabled
15 to 51200 0.01 ms 2000 Immediately Tuning
Pn106
2nd Position Loop Gain
Classification
Setting Range Setting Unit Factory Setting When Enabled
10 to 20000 0.1/s 400 Immediately Tuning
Pn412
1st Step 2nd Torque Reference Filter Time
Constant
Classification
Setting Range Setting Unit Factory Setting When Enabled
0 to 65535 0.01 ms 100 Immediately Tuning
Pn148
2nd Model Following Control Gain
Classification
Setting Range Setting Unit Factory Setting When Enabled
10 to 20000 0.1/s 500 Immediately Tuning
Pn149
2nd Model Following Control Gain Compensation
Classification
Setting Range Setting Unit Factory Setting When Enabled
500 to 2000 0.1% 1000 Immediately Tuning
Pn122
2nd Gain for Friction Compensation
Classification
Setting Range Setting Unit Factory Setting When Enabled
10 to 1000 1% 100 Immediately Tuning
(cont’d)
Speed Position
Position
Speed Position Torque
Position
Position
Speed Position
Pn131
Gain Switching Time 1
Classification
Setting Range Setting Unit Factory Setting When Enabled
0 to 65535 1 ms 0 Immediately Tuning
Pn132
Gain Switching Time 2
Classification
Setting Range Setting Unit Factory Setting When Enabled
0 to 65535 1 ms 0 Immediately Tuning
Pn135
Gain Switching Waiting Time 1
Classification
Setting Range Setting Unit Factory Setting When Enabled
0 to 65535 1 ms 0 Immediately Tuning
Pn136
Gain Switching Waiting Time 2
Classification
Setting Range Setting Unit Factory Setting When Enabled
0 to 65535 1 ms 0 Immediately Tuning
Monitor No. (Un) Name Value Remarks
Un014 Effective gain monitor
1 For gain setting 1
2 For gain setting 2
Position
Position
Position
Position
Parameter No.
Analog Moni-
tor
Name Output Value Remarks
Pn006
Pn007
n. 0B
Effective gain moni-
tor
1 V Gain setting 1 is enabled.
2 V Gain setting 2 is enabled.