Omron G5 Series User Manual page 312

6 Applied Functions
Gain Switching Setting for Each Control Mode
The available gain switching condition settings vary depending on the control mode to be used. Set
parameters for each control mode.
Position Control Mode
In the position control mode, the available settings depend on the value set in Switching Mode in
Position Control (Pn115).
Pn115
Switching condition
set value
0 Always Gain 1
1 Always Gain 2
2 Switching using gain
switching input (GSEL)
3 Amount of change in torque
command
4 Always Gain 1
5 Command speed
6 Amount of position error
7 Position command input
8 Positioning completion
output (INP1) OFF
9 Actual motor speed
10 Combination of position
command input and speed
Speed Control Mode
In the speed control mode, the available settings depend on the value set in Switching Mode in
Speed Control (Pn120).
Pn120
Switching condition
set value
0 Always Gain 1
1 Always Gain 2
2 Switching using gain
switching input (GSEL)
3 Amount of change in torque
command
4 Amount of change in speed
command
5 Speed command
6 - 30
Gain
Switching
Delay Time
(Pn116)
–
–
–
√
–
√
√
√
√
√
√
Gain Switching
Delay Time
(Pn121)
–
–
–
√
–
√
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User's Manual
(√: Enabled, –: Disabled)
Gain
Gain Switching
Switching
Hysteresis
Level
(Pn118)
(Pn117)
– –
– –
– –
√ √
[0.05%] [0.05%]
– –
√ √
[r/min] [r/min]
√ √
[Pulse] [Pulse]
– –
– –
√ √
[r/min] [r/min]
√ √
(√: Enabled, –: Disabled)
Gain Switching Level
(Pn122)
–
–
–
√
[0.05%]
–
√
[r/min]
Position Gain
Switching
Time
(Pn119)
–
–
√
√
–
√
√
√
√
√
√
Gain Switching
Hysteresis
(Pn123)
–
–
–
√
[0.05%]
–
√
[r/min]