Omron G5 Series User Manual page 350

7 Parameter Details
Pn117 Gain Switching Level in Position Control
Setting 0 to 20,000
range
• This parameter is enabled when Switching Mode in Position Control (Pn115) is 3, 5, 6, 9 or 10. It sets
the judgment level for switching between Gain 1 and Gain 2. The unit depends on the setting of
Switching Mode in Position Control (Pn115).
Pn118 Gain Switching Hysteresis in Position Control
Setting 0 to 20,000
range
• Set the hysteresis width above and below the judgment level set in Gain Switching Level in Position Control
(Pn117). The unit depends on the setting of Switching Mode in Position Control (Pn115).
The definitions of Gain Switching Delay Time in Position Control (Pn116), Gain Switching Level in Position
Control (Pn117), and Gain Switching Hysteresis in Position Control (Pn118) are shown in the drawing below.
Pn117
0
• The settings for Gain Switching Level in Position Control (Pn117) and Gain Switching Hysteresis in
Position Control (Pn118) are enabled as absolute values (forward/reverse).
Pn119
Position Gain Switching Time
Setting 0 to 10,000
range
When using the position control, setting Gain Switching Time helps prevent the rapid increase of the position
loop gain if the values set in Position Loop Gain (Pn100) and Position Loop Gain 2 (Pn105) differ significantly.
The position loop gain increases as the set time expires.
Position Gain Switching Time
Position Gain Switching Time (Pn119) can be set to mitigate the torque fluctuations and vibration due to
a sudden change in the position loop gain when gain is switched. This enables a gradual change in the
gain during switching, where the position loop gain gets large, resulting in reduced vibration.
Precautions for Correct Use Precautions for Correct Use
• When the position loop gain is switched to a smaller value, gain switching occurs immediately
regardless of this parameter setting.
Example: When Position Loop Gain (Pn100) is greater than Position Loop Gain 2 (Pn105)
Position Loop
Gain 2 (Pn105)
Position Loop
Gain (Pn100)
Result of switching
7 - 16
Unit
Unit
Pn118
Gain 1 Gain 2 Gain 1
Pn116
Unit
Position Loop Gain 2
Position
Loop Gain
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User's Manual
– Default
setting
– Default
setting
0.1 ms Default
setting
Position Gain
Switching Time
[ms] (Pn119)
Position
Loop Gain
Position
50 Cycle the –
power supply
Position
33 Cycle the –
power supply
Position
33 Cycle the –
power supply