Yaskawa SGDS Sigma III Servo Amplifier - Manual (Page 258)

8.6 Servo Gain Adjustment Functions
8-31
(3) Automatic Gain Switching Pattern
(4) Automatic Gain Switch Settings
(5) Switching Operation
The following diagram shows the relationship between the gain switching delay and the switching time.
In this example, the “positioning completed signal (/COIN) ON” condition is set as condition A for automatic
gain switching pattern 1. The position loop gain is switched from the value in Pn102 (Position Loop Gain) to the
value in Pn106 (Position Loop Gain #2). When the /COIN signal goes ON, the switching operation begins after
the delay set in Pn135. The switching operation changes the position loop gain linearly from Pn102 to Pn106
over the switching time interval set in Pn131.
“Automatic Gain Switching” is available in not only standard PI and I-P control but also in Less Deviation
Control. The following table shows the gain combinations for Less Deviation Control. The setting methods for
the
“ Switching Condition”, “Switching Delay” and “Switching Time” are the same as for PI and I-P control. Refer
to 8.6.8 Less Deviation Control for information on how to adjust Less Deviation Control.
Gain
Settings 1
Pn100
Pn101
Pn102
Pn401
Gain
Settings 2
Pn104
Pn105
Pn106
Pn412
Condition A
Pn139= X
Switching Delay 1 Pn135
Switching Time 1 Pn131
Switching Delay 2 Pn136
Switching Time 2 Pn132
Condition B
Pn139= X
Automatic switching pattern 1 (Pn139.0=1)
Parameter Settings Switching Conditions Setting Switching Delay Switching Time
/G-SEL2 /G-SEL1
Pn139= 1
(Automatic Switching
Pattern 1)
Condition A established.
Pn139=
X
Gain Settings 1 to
Gain Settings 2 Switching Delay 1
Pn135 Switching Time 1
Pn131
Condition B established.
Pn139= X Gain Settings 2 to
Gain Settings 1 Switching Delay2
Pn136 Switching Time 2
Pn132
Switching condition A established
Switching Time
Pn131
Switching Delay
Pn135
Pn102
Position Loop Gain
Pn106
Position
Loop Gain 2
/COIN