Omron G5 Series User Manual page 349

*5 When the set value is 10, the meanings of Gain Switching Delay Time in Position Control, Gain Switching Level
in Position Control, and Gain Switching Hysteresis in Position Control differ from the normal case. (Refer to
Figure F.)
Speed V
Torque T
Level
Time
1
Speed V
Level
Gain 1
Command speed S
Pn116
Gain Switching Delay Time in Position Control
Setting 0 to 10,000
range
• Set the delay time when returning from Gain 2 to Gain 1 if Switching Mode in Position Control
(Pn115) is set to 3 or 5 to 10.
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User's Manual
Figure A
T
H
L
L
H
2 2 Gain 1 2 2 1
1 1
Figure B
H
L
Time
Gain 2 Gain 1
Actual speed N
Gain 1 Gain 2
Gain 2 for speed loop integral time
constant only; Gain 1 for others
Unit
Speed V
Accumulated error pulse
Level
Time
Gain 1 Gain 2
Command
speed S
Time
Gain 1 Gain 2
Actual
speed N
INP
Time
Gain 1 Gain 2
Time
Gain 1
0.1 ms Default
setting
7 Parameter Details
Figure C
H
L
Gain 1
Figure D
Gain 1
Figure E
Gain 1
Figure E
H
Level
L
Position
50 Cycle the
power supply
7
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