Omron R88D-GT series User Manual page 360

5-16 User Parameters
Pn36
Setting range
Explanation of Settings
5
• 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 second control mode is used.
• Use this parameter to select the conditions for switching between gain 1 and gain 2 if the second
control mode is used when the Gain Switching Input Operating Mode Selection (Pn30) is set to 1.
• If 2 is selected, the Control Gain Switch 1 Setting (Pn31) is set to 2 and the Torque Limit Selection
(Pn03) is set to 3, the gain is always gain 1 regardless of the gain input.
• For information on switching levels and timing, refer to Gain Switching Function on page 7-26.
Pn37 Gain Switch 2 Time
Setting range
• Use this parameter to set the delay time when returning from gain 2 to gain 1 if the Control Gain
Switch 2 Setting (Pn36) is 3 to 5.
Pn38
Gain Switch 2 Level Setting
Setting range
• Use this parameter to set the judgment level for switching between gain 1 and gain 2 when the
Control Gain Switch 2 Setting (Pn36) is set to 3 to 5. The unit depends on the setting for the Control
Gain Switch 2 Setting (Pn36).
Pn39 Gain Switch 2 Hysteresis Setting
Setting range
• Use this parameter to set the hysteresis width for the judgment level set in the Gain Switch 2 Level
setting (Pn38). The unit depends on the Control Gain Switch 2 Setting (Pn36). The following shows
the definitions for the Gain Switch 2 Time (Pn37), Gain Switch 2 Level Setting (Pn38), and Gain
Switch 2 Hysteresis Setting (Pn39).
• The settings for the Gain Switch 2 Level Setting (Pn38) and the Gain Switch 2 Hysteresis Setting
5-73
Control Gain Switch 2 Setting
0 to 5 Unit
Setting
0 Always gain 1
1 Always gain 2
Gain 2 is selected when the Gain Switching Input (GSEL: CN1 pin 27) is ON. (The Gain
2
Switching Input Operating Mode Selection (Pn30) must be set to 1.)
3 Gain 2 is selected as the amount of change in the torque command increases.
Gain 2 is selected as the amount of change in speed command (i.e., acceleration)
4
increases.
5 Gain 2 is selected as the command speed increases.
0 to 10000 Unit
0 to 20000 Unit
0 to 20000 Unit
Pn38
0
Gain 1 Gain 2
--- Default setting
Explanation
× 166 μs
Default setting
--- Default setting
--- Default setting
Pn39
Gain 1
Pn37
Speed Torque
0 ---
Power OFF→ON
Speed Torque
30 ---
Power OFF→ON
Speed Torque
0 ---
Power OFF→ON
Speed Torque
0 ---
Power OFF→ON