Omron R88M-K Series User Manual page 400

6-7 Gain Switching Function
Gain Switching Setting for Each Control Mode
The settable switching conditions vary depending on the control mode used. Set the
parameters for each control mode.
Position Control Mode
In the Position Control Mode, it varies as follows according to gain switching mode in Position
Control (Pn115).
Pn115 set
0
1
2
3
4
6
5
6
7
8
9
10
Speed Control Mode
In the Speed Control Mode, it varies as follows according to switching mode in Speed Control
(Pn120).
Pn120 set
0
1
2
3
4
5
6-30
Switching conditions
value
Always gain 1
Always gain 2
Switching from gain
switching (GSEL)
Torque command change
amount
Always gain 1
Command speed
Amount of position error
Position command received √
Positioning completion
signal (INP1) OFF
Actual motor speed
Combination of position
command received and speed
Switching conditions
value
Always gain 1
Always gain 2
Switching from gain
switching (GSEL)
Torque command change
amount
Amount of change in speed
command
Speed command
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Gain Gain
Switching Switching
Delay Time Level
(Pn116) (Pn117)
− −
− −
− −
√
√
[× 0.05%]
− −
√
√
[r/min]
√
√
[pulse]
−
√ −
√
√
[r/min]
√ √
Gain Switching
Gain Switching
Delay Time
Level (Pn122)
(Pn121)
− −
− −
− −
√
√
[× 0.05%]
− −
√
√
[r/min]
(√: Enabled, − : Disabled)
Gain Position
Switching Gain
Hysteresis Switching
(Pn118) Time (Pn119)
− −
− −
− √
√
√
[× 0.05%]
− −
√
√
[r/min]
√
√
[pulse]
− √
− √
√
√
[r/min]
√ √
(√: Enabled, − : Disabled)
Gain Switching
Hysteresis
(Pn123)
−
−
−
√
[× 0.05%]
−
√
[r/min]