Yaskawa Sigma II Series Servo System - Manual (Page 251)

Sigma II User’s Manual Chapter 6: Servo Adjustment
6 - 19
6.2.6 Automatic Gain Switching Function (Applicable Only to SGDH
amplifiers with version # 33
or higher)
The automatic gain switching function switches the gain setting between the gain setting 1
and 2 according to the following conditions:
Whether position reference is specified or not, or
Position error level, or
AND logic of the above two conditions
The position reference of the automatic gain switching condition indicates the reference
pulses from CN1, the reference pulses from LD001 for SGDH Servo Amplifier + LD001,
or the reference pulses from the option board for SGDH Servo Amplifier + option board.
Note that the automatic gain switching function is disabled for the control modes other
than position control.
And, the real-time autotuning function is disabled while gain setting 2 is selected.
Gain Switching
The existing gain switching function by /G-SEL signal is also available. However, it can-
not be used with the automatic gain switching function.
Note that automatic gain switching function is enabled only in position control mode. In
the control modes other than position control, gain setting 1 is used.
When the automatic gain switching is enabled by setting 1 to 3 of Pn10B.2, the gain
switching function by /G-SEL signal is disabled.
Gain Setting 1 ⇔ Gain Setting 2
Pn100: Speed loop gain Pn104: Speed loop gain #2
Pn101: Speed loop integral time
constant
Pn105：Speed loop integral time
constant #2
Pn102: Position loop gain Pn106：Position loop gain #2