Yaskawa Sigma II Series SGMVH - Manual (Page 274)

9 Adjustments
9.4.9 Switching Gain Settings
9-14
9.4.9 Switching Gain Settings
Gain switching functions by the external signal, or by using automatic gain switching that is enabled only at posi-
tion control, are built into the SGDM/SGDH SERVOPACK. For example, to use different gains while the servo-
motor is running or stopped, set two values in the gain settings 1 and 2 and switch the gains.
(1) Gain Switching Function Using an External Input Signal
(a) Gain Switching Input Signal
(b) Switchable Gain Combinations
Turning ON and OFF the gain switching signal /G-SEL switches the gains as follows.
(c) Related Parameters
Type Signal Connector Pin No. Setting Meaning
Input /G-SEL
Signal allocation
required
OFF: H (high) level Gain settings 1
ON: L (low) level
Gain settings 2
To use the input signal, the input signal must be allocated in the parameter Pn50D. Refer to 7.3.2 Input Circuit Signal Allo-
cation.
Gain Switching Signal (/G-SEL) OFF (H Level) ON (L Level)
Speed loop gain Pn100 Pn104
Speed loop integral time constant Pn101 Pn105
Position loop gain Pn102 Pn106
Parameter Function
Pn50A n.†††1 Enables the input signal allocation for the sequence.
Set to allocate the gain switching signal (/G-SEL) to an input terminal.
Pn100 Speed Loop Gain
Setting Range Setting Unit Factory Setting Setting Validation
1 to 2,000 Hz 40 Immediately
Pn101 Speed Loop Integral Time Constant
Setting Range Setting Unit Factory Setting Setting Validation
15 to 51,200 0.01 ms 2,000 Immediately
Pn102 Position Loop Gain
Setting Range Setting Unit Factory Setting Setting Validation
1 to 2,000 1/s 40 Immediately
Pn104 2nd Speed Loop Gain
Setting Range Setting Unit Factory Setting Setting Validation
1 to 2,000 Hz 40 Immediately
Pn105 2nd Speed Loop Integral Time Constant
Setting Range Setting Unit Factory Setting Setting Validation
15 to 51,200 0.01 ms 2,000 Immediately
Pn106 2nd Position Loop Gain
Setting Range Setting Unit Factory Setting Setting Validation
1 to 2,000 1/s 40 Immediately
Speed Position Torque
Speed Position Torque
Speed Position Torque
Speed Position Torque
Speed Position Torque
Speed Position Torque