Diagrams Of Gain Switching Setting - Omron OMNUC G5 Series User Manual

7-8 Gain Switching Function

Diagrams of Gain Switching Setting

Switching between Gain 1 (3100 to 3104 hex) and Gain 2 (3105 to 3109 hex) occurs at the
following timing. For the position loop gain, switching occurs based on the setting of 3119 hex.
The details of the gain switching settings vary depending on the control mode used. For the
details of settings available in each mode, refer to Gain Switching on page 7-25.
Gain Switching Mode = 2: Gain Switching (GSEL)
Instant switching occurs when a gain switching command is issued from the network.
7
Gain Switching Mode = 3: Switching by Command Torque Value
If the absolute value of the command torque exceeds the sum of the Gain Switching Level in
Position Control (3117 hex) plus the Gain Switching Hysteresis in Position Control (3118 hex),
the gain switches to gain 2.
If the absolute value of the command torque exceeds the difference of the Gain Switching
Level in Position Control (3117 hex) minus the Gain Switching Hysteresis in Position Control
(3118 hex) for the time specified in the Gain Switching Delay Time in Position Control (3116
hex), the gain switches back to gain 1.
Speed command
3118 hex
3117 hex
Torque
command
Gain 1
7-27
Position command
GSEL
Gain switching instruction
Gain 1
3116 hex
Gain 2
OMNUC G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Gain 2
3118 hex
3117 hex
3118 hex
Gain 1
Gain 1
3118 hex
3116 hex
Gain 1
Gain 2