Omron R88D-GT series User Manual page 357

Torque Control Mode
Setting
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 command
3
(Figure A)
• Use this parameter to select the conditions for switching between gain 1 and gain 2 when the Gain
Switching Input Operation Mode Selection (Pn30) is set to 1.
• The gain is always gain 1 regardless of the gain input if the Control Gain Switch 1 Setting (Pn31)
is 2 and the Torque Limit Selection (Pn03) is 3.
• If the Control Mode Setting (Pn02) is set to a composite mode (3, 4, or 5), the setting of this
parameter is valid when the first control mode is used.
*1. The Gain Switch 1 Time (Pn32) is used when returning from gain 2 to gain 1.
*2. The Gain Switch 1 Hysteresis Setting (Pn34) is defined as shown in the following figure.
Pn33
0
*3. The amount of change is the value within 166 μs.
Example: When the condition is a 10% change in torque in 166 μs, the set value is 200.
*4. This is the encoder resolution.
*5. The meanings of the Gain Switch Time, Gain Switch Level Setting, and Gain Switch Hysteresis
Setting are different from normal if this parameter is set to 10. (Refer to Figure F.)
Explanation
Gain Switch Time
(Pn32, 37)
×
×
×

Pn34
Gain 2 Gain 1
Gain 1
Pn32
5-16 User Parameters
Gain Switch Gain Switch
Level Setting Hysteresis Set-
*1
(Pn33, 38) ting (Pn34, 39)
×
×
×
*3

(0.05%/166 μs) (0.05%/166 μs)
*2
×
×
×
*3

5
5-70