Omron R88D-GT series User Manual page 358

5-16 User Parameters
5
Pn32 Gain Switch 1 Time
Setting range
• For Position Control Mode, use this parameter to set the delay time when returning from gain 2 to
gain 1 if the Control Gain Switch 1 Setting (Pn31) is 3 or 5 to 10.
• For Speed Control Mode, use this parameter to set the delay time when returning from gain 2 to
gain 1 if the Control Gain Switch 1 Setting (Pn31) is 3 to 5.
• For Torque Control Mode, use this parameter to set the delay time when returning from gain 2 to
gain 1 if the Control Gain Switch 1 Setting (Pn31) is 3.
5-71
Speed V
Torque T
T
Level
Time
Gain 1
1 2 2
1
Speed V
Level
Time
Gain 2
Gain 1
Command
speed S
Gain 1
Gain 2 is used only during the Speed Loop Integration Time Constant.
Gain 1 is used at other times.
0 to 10000 Unit
Figure A
Speed V
Accumulated pulses
Level
Gain 1
H
Command
L
speed S
L
H
2 2 1
Gain 1
1
Figure B
Actual
H
speed N
L
Gain 1
INP
Gain 1
Actual
speed N
Time
Gain 2
× 166 μs Default setting
Figure C
H
L
Time
Gain 1
Gain 2
Figure D
Time
Gain 2 Gain 1
Figure E
Time
Gain 2
Gain 1
Figure F
H
Level
L
Gain 1
All modes
30
Power OFF→ON
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