Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Manual (Page 190)

5.8 Additional Adjustment Function
5-53
Adjustments
Relationship between the Gain Switching Waiting Time and the Switching Time Constant
In this example, the “positioning completed signal (/COIN) ON” condition is set as condition A for automatic
gain switching. The position loop gain is switched from the value in Pn102 (Position Loop Gain) to the value
in Pn106 (2nd Position Loop Gain). When the /COIN signal goes ON, the switching operation begins after the
waiting time set in Pn135. The switching operation changes the position loop gain linearly from Pn102 to
Pn106 over the switching time set in Pn131.
Note: Automatic gain switching is available in the PI and I-P controls. (Pn10B)
Switching condition A established
Gain
Switching Time
Pn131
Gain
Switching
Waiting Time
Pn135
Pn102
Position Loop Gain
Pn106
2nd Position
Loop Gain
/COIN