Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Analog Voltage and Pulse Train Reference - Manual (Page 394)

11 Appendix
11.2.2 Parameters
11-18
Pn139
2
Automatic Gain Changeover
Related Switch 1
0000 to 0052 − 0000 Immediately Tuning 6.8.1
Pn13D 2 Current Gain Level 100 to 2000 1% 2000 Immediately Tuning 6.8.4
Pn140
2
Model Following Control
Related Switch
0000 to 1121 − 0100 Immediately Tuning −
Pn141 2 Model Following Control Gain 10 to 20000 0.1/s 500 Immediately Tuning −
Pn142 2
Model Following Control Gain
Compensation
500 to 2000 0.1% 1000 Immediately Tuning −
Pn143 2
Model Following Control Bias
(Forward Direction)
0 to 10000 0.1% 1000 Immediately Tuning −
(cont’d)
Parameter
No.
Size Name
Setting
Range
Units
Factory
Setting
When
Enabled
Classification
Reference
Section
Gain Switching Selection Switch
0 Manual gain switching
Changes gain manually using external input signal (/G-SEL) .
1 Reserved (Do not change.)
2 Automatic gain switching pattern 1
Changes automatically 1st gain to 2nd gain when the switching condition A is satisfied.
Changes automatically 2nd gain to 1st gain when the switching condition A is not satisfied.
Gain Switching Condition A
0 Positioning completion signal (/COIN) ON
1 Positioning completion signal (/COIN) OFF
2 Positioning near signal (/NEAR) ON
3 Positioning near signal (/NEAR) OFF
4 Position reference filter output = 0 and reference pulse input OFF
5 Position reference pulse input ON
Reserved (Do not change.)
Reserved (Do not change.)
4th 3rd 2nd 1st
digit digit digit digit
n.
Model Following Control Selection
0 Does not use model following control.
1 Uses model following control.
Vibration Suppression Selection
0 Does not perform vibration suppression.
1 Performs vibration suppression over the specified frequency.
2 Performs vibration suppression over two different kinds of frequencies.
Vibration Suppression Adjustment Selection
Reference
Section
0 Does not adjust vibration suppression automatically using utility function. 6.3.1, 6.4.1,
6.5.1, 6.7.1
1 Adjusts vibration suppression automatically using utility function.
Selection of Speed Feedforward (VFF) / Torque Feedforward (TFF)
Reference
Section
0 Does not use model following control and speed/torque feedforward together.
6.3.1, 6.4.1
1 Uses model following control and speed/torque feedforward together.
4th 3rd 2nd 1st
digit digit digit digit
n.