8-2 Gain Parameters
Pn123
Gain Switching Hysteresis in Speed Control
Setting
range
Set the hysteresis width above and below the judgment level set in the Gain Switching Level in Speed
Control (Pn122).
The unit depends on the setting of the SWITCHING mode in Speed Control (Pn120).
The following shows the definitions for the Gain Switching Delay Time in Speed Control (Pn121),
Gain Switching Level in Speed Control (Pn122), and Gain Switching Hysteresis in Speed Control
(Pn123).
The settings for the Gain Switching Level in Speed Control (Pn122) and the Gain Switching
Hysteresis in Speed Control (Pn123) are enabled absolute values (positive/negative).
Pn124
SWITCHING mode in Torque Control
Setting
range
Select the switching condition between gain 1 and gain 2 when the GAIN SWITCHING INPUT
OPERATING mode Selection (Pn114) is set to 1.
The gain is always gain 1 regardless of the gain input if the SWITCHING mode in Torque Control
8
(Pn124) is 2 and the Torque Limit Selection (Pn521) is 3 or 6.
Explanation of Settings
Pn124
set
value
*1. The Gain Switching Delay Time in Toque Control (Pn125) becomes effective when the gain is
8-17
0 to 20000
Unit
Pn122
0
Gain 1
Gain 2
0 to 3
Unit
Gain switching conditions
0
Always Gain 1 (Pn100 to Pn104).
1
Always Gain 2 (Pn105 to Pn109).
Gain switching command input via
2
MECHATROLINK-II communications
*3
Torque command variation (Refer to
3
Figure A)
switched from 2 to 1.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Default
setting
Pn123
Gain 1
Pn121
Default
setting
Description
Gain switching
Gain switching
delay time in
level in torque
torque control
*1
(Pn125)
(Pn126)
Disabled
Disabled
Disabled
Disabled
Disabled
Disabled
Enabled
Enabled
Speed
Data
0
attribute
Torque
Data
0
attribute
Gain switching
hysteresis in
control
torque control
*2
(Pn127)
Disabled
Disabled
Disabled
*4
*4
Enabled
(0.05%)
(0.05%)
B
B