Omron R88D-GT series User Manual page 328

5-16 User Parameters
Pn Parameter
No. name
Gain Switching
30 Input Operating
Mode Selection
5
Control Gain
31
Switch 1 Setting
Gain Switch 1
32
Time
Gain Switch 1
33
Level Setting
Gain Switch 1
34 Hysteresis
Setting
Position Loop
35 Gain Switching
Time
5-41
Setting Explanation
Enable or disable gain switching.
If gain switching is enabled, the setting of the Control
Gain Switch Setting (Pn31) is used as the condition
for switching between gain 1 and gain 2.
Disabled. The gain set in Pn10 to Pn14 is
used, and the Gain Switching Input (GSEL)
0
will be used to switch between PI operation
and P operation.
Enabled. The gain will be switched between
1 gain 1 (Pn10 to Pn14) and gain 2 (Pn18 to
Pn1C).
Select the condition for switching between gain 1 and
gain 2. The details depend on the control mode.
If a composite mode is set, the setting of this param-
eter is valid when the first control mode is used. The
Gain Switching Input Operating Mode Selection
(Pn30) must be set to 1 (enabled).
0 Always gain 1
1 Always gain 2
Switching using Gain Switching Input
2
(GSEL)
3 Amount of change in torque command
4 Always gain 1
5 Command speed
6 Amount of position deviation
7 Command pulses received
8 Positioning Completed Signal (INP) OFF
9 Actual Servomotor speed
Combination of command pulse input and
10
speed
This parameter is enabled when the Control Gain
Switch 1 Setting (Pn31) is 3 to 10. Set the delay time
from the moment the condition set in the Control Gain
Switch 1 Setting (Pn31) is not met until returning to
gain 1.
This parameter is enabled when the Control Gain
Switch 1 Setting (Pn31) is 3 to 6, 9, or 10. Set the
judgment level for switching between gain 1 and gain
2.
The unit for the setting depends on the condition set
in the Control Gain Switch 1 Setting (Pn31).
Set the hysteresis width above and below the judg-
ment level set in the Gain Switch 1 Level Setting
(Pn33).
When switching between gain 1 and gain 2 is en-
abled, set the phased switching time only for the posi-
tion loop gain at gain switching.
Default Setting
Unit
setting range
1 --- 0 to 1
0 --- 0 to 10
0 to
166 μs
30
10000
0 to
600 ---
20000
0 to
50 ---
20000
0 to
166 μs
20
10000
Power
OFF→
ON
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