Sigma-II Series SGM*H/SGDH USER'S MANUAL - Esco Drives ...

9.4 Servo Gain Adjustment Functions9.4.9 Switching Gain SettingsGain switching by the external signal is possible with the SGDH SERVOPACK. For example, to use differentgains while the servomotor is running or stopped, set two values in the gain settings 1 and 2 and switch the gainsby the external signal.(1) Gain Switching Input SignalType Signal Connector Pin No. Setting MeaningInput/G-SEL(2) Switchable Gain CombinationsTurning ON and OFF the gain switching signal /G-SEL switches the gains as follows.(3) Related ParametersSignal allocationrequiredOFF: H (high)levelGain settings 1ON: L (low) level Gain settings 2To use the input signal, the input terminal must be allocated in the parameter Pn50D. Refer to 7.3.2 Input Circuit SignalAllocation.Gain Switching Signal (/G-SEL) OFF (H Level) ON (L Level)Speed loop gain Pn100 Pn104Speed loop integral time constant Pn101 Pn105Position loop gain Pn102 Pn106ParameterFunctionPn50A n.1 Enables the input signal allocation for the sequence.Set to allocate the gain switching signal (/G-SEL) to an input terminal.Pn100Pn101Pn102Pn104Pn105Pn106Speed Loop GainSpeed Position TorqueSetting Range Setting Unit Factory Setting Setting Validation1 to 2,000 Hz 40 ImmediatelySpeed Loop Integral Time ConstantSpeed Position TorqueSetting Range Setting Unit Factory Setting Setting Validation15 to 51,200 0.01 ms 2,000 ImmediatelyPosition Loop GainSpeed Position TorqueSetting Range Setting Unit Factory Setting Setting Validation1 to 2,000 1/s 40 Immediately2nd Speed Loop GainSpeed Position TorqueSetting Range Setting Unit Factory Setting Setting Validation1 to 2,000 Hz 40 Immediately2nd Speed Loop Integral Time ConstantSpeed Position TorqueSetting Range Setting Unit Factory Setting Setting Validation15 to 51,200 0.01 ms 2,000 Immediately2nd Position Loop GainSpeed Position TorqueSetting Range Setting Unit Factory Setting Setting Validation1 to 2,000 1/s 40 Immediately99-25