Operation Example - Omron OMNUC G5 Series User Manual

7-9 Gain Switching 3 Function

Operation Example

When the conventional gain switching function works correctly, set the time to use Gain 3 in
Gain 3 Effective Time (3605 hex), and the magnification of Gain 3 against Gain 1 in the Gain
3 Ratio Setting (3606 hex).
Operation Timings of Gain 1, 2 and 3
When the Switching Mode in Position Control (3115 hex) is set to 7, i.e., when the command
pulses are received as the switching condition, the operation will be as shown below:
7
If gain 3 is not used, set the Gain 3 Effective Time (3605 hex) to 0 and the Gain 3 Ratio Setting
(3606 hex) to 100.
In the gain 3 region, only the position loop gain and the speed loop gain are treated as gain 3, and
the gain 1 setting is applied for all other gains.
If the gain 2 switching condition is established in the gain 3 region, operation switches to gain 2.
If gain 2 is switching to gain 3, the Position Gain Switching Time (3119 hex) is enabled.
There is a gain 3 region even when gain 2 is switched to gain 1 due to an object change and so
forth.
7-31
Position command speed [r/min]
Gain 2
3105 to 3109 hex
The gain 1 values are used for the speed loop integral time constant,
speed feedback filter time constant, and torque command filter time constant.
Precautions for Correct Use
OMNUC G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
3605 hex × 0.1 ms
Gain 3
3100 to 3104 hex
Gain 3 region
Position loop gain = 3100 × 3606 hex/100
Speed loop gain = 3101 × 3606 hex/100
Gain 1