Omron OMNUC G5 R88M-K series User Manual page 264

6-9 Gain Switching Function
GAIN SWITCHING mode = 10: Switching by Combination of Position Command Received and Speed
Switching to the gain 2 occurs when a position command is received.
If no position command is issued for the period of Gain Switching Delay Time in Speed Control
(Pn121) and the speed also becomes the same as or less than the result of Gain Switching
Level (Pn122) - Gain Switching Hysteresis (Pn123) [r/min], switching to the Gain 1 occurs.
Gain 1
Position Gain Switching Time (Pn119)
At the time of gain switching, the speed loop gain, speed loop integral time constant, torque
6
command filter time constant and speed detection filter switch simultaneously as the switching
command. Under this function, however, switching occurs at the set timings so as to reduce
mechanical vibration and resonance resulting from switching from low to high gain.
The switching time is set in units of 166 s according to the internal cycle. Set 20 in Pn035. If
the position loop gain is to be raised from 30 to 50 [1/s], increment the gain by 166 s at a time.
(3.32 ms) If the position loop gain is to be lowered from 50 to 30 [1/s], lower the gain instantly.
Every 166 μs
Low gain
6-35
Position command
Actual motor speed
3 3
2
1
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Pn122
Pn116
Gain 2
N
High gain
Pn123
Pn121
Gain 1
Low gain