Yaskawa Sigma II Series SGMVH - Manual (Page 275)

9.4 Servo Gain Adjustment Functions
9
Adjustments
9-15
(2) Automatic Gain Switching Function
The automatic gain switching function switches the gain setting between the gain setting 1 and 2 according to the
condition:
Whether position reference is specified or not, or
Position error level, or
AND logic of the above two determined conditions
The position reference of the automatic gain switching condition indicates the reference pulses from CN1.
Note that the automatic gain switching function is disabled for the control modes other than position control.
The existing gain switching function by /G-SEL signal is also available. However, it cannot be used with the
gain switching function.
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.
The following flowchart shows the automatic gain switching.
With or without
position reference
Automatic gain
switching enabled?
Gain switching timer
count-up
Gain switching timer
0 clear
Without
With
Position error
Gain switching timer
count-up
Gain switching timer
0 clear
Position error < Pn125
Automatic gain
switching condition
Position
reference and
Position error
Gain switching timer
count-up
Gain switching timer
0 clear
Without position reference
and
Position error < Pn125
With position reference
or
Position error ≥ Pn125
Position reference only
(Pn10B.2 = 1)
Position error only
(Pn10B.2 = 2)
Position reference
and position error
(Pn10.B = 3)
Disabled (Pn10B.2 = 0)
Timer > Pn124
Gain Setting 2 Gain Setting 1
YES
NO
Enabled (Pn10B.2 = 1 to 3)
Position error ≥ Pn125
End