Omron R88D-GT series User Manual page 356

5-16 User Parameters
Pn31
Setting range
Explanation of Settings
Position Control Mode
Setting
5
Speed Control Mode
Setting
5-69
Control Gain Switch 1 Setting
0 to 10 Unit
Gain switching conditions
0 Always gain 1 (Pn10 to Pn14)
1 Always gain 2 (Pn18 to Pn1C)
Switching using Gain Switch Input
2
(GSEL) for CN1 pin 27
Amount of change in torque
3
command (Figure A)
4 Always gain 1 (Pn10 to Pn14)
5 Command speed (Figure B)
Amount of position deviation
6
(Figure C)
7 Command pulses received (Figure D)
Positioning Completed Signal (INP)
8
OFF (Figure E)
9 Actual Servomotor speed (Figure B)
Combination of command pulse input
10
and speed (Figure F)
Gain switching conditions
0 Always gain 1 (Pn10 to Pn14)
1 Always gain 2 (Pn18 to Pn1C)
Switching using Gain Switch Input
2
(GSEL) for CN1 pin 27
Amount of change in torque
3
command (Figure A)
Amount of change in speed
4
command (Figure B)
5 Command speed (Figure C)
--- Default setting
Explanation
Gain Switch 1
Gain Switch 1
Level Setting
*1
Time (Pn32)
×
×
×

×
(
×
  (r/min)



  (r/min)

Explanation
Gain Switch
Gain Switch Time
Level Setting
*1
(Pn32, 37)
(Pn33, 38)
×
×
×

(0.05%/166 μs)

(10 r/min/s)

All modes
0 ---
Power OFF→ON
× : Disabled)
(: Enabled,
Gain Switch 1
Hysteresis Set-
*2
(Pn33) ting (Pn34)
× ×
× ×
× ×
*3 *3
 
×
0.05%) ( 0.05%)
× ×
 (r/min)
*4 *4
 
(Pulse) (Pulse)
× ×
× ×
 (r/min)
*5 *5
 
(r/min) (r/min)
Gain Switch
Hysteresis Set-
ting (Pn34, 39)
× ×
× ×
× ×
*3 *3
 
(0.05%/166 μs)
*5 *5
 
(10 r/min/s)
 (r/min)  (r/min)
*2