Omron R88D-KTA5L User Manual page 450

8-2 Gain Parameters
Pn115
Switching Mode in Position Control
Setting
0 to 10
range
Explanation of Settings
Set
value
0
1
2
3
4
5
6
8
7
8
9
10
 Select the conditions for switching between gain 1 and gain 2 when the Gain Switching Input
Operating Mode Selection (Pn114) is set to 1.
 The gain is always gain 1 regardless of the gain input if the Gain Switch input is not assigned to
any input if this setting is 2.
*1. The Gain Switching Delay Time in Position Control (Pn116) becomes effective when the gain is
*2. The Gain Switching Hysteresis in Position Control (Pn118) is defined in the drawing below.
*3. The variation means the change amount in a millisecond (ms).
*4. This is the encoder resolution.
8-13
Unit
Gain switching conditions
Always Gain 1 (Pn100 to Pn104)
Always Gain 2 (Pn105 to Pn109)
Switching using gain switching
input (GSEL) for CN1 pin 27
Torque command variation (Refer
to Figure A)
Always Gain 1 (Pn100 to Pn104)
Command speed (Refer to Figure
B)
Amount of position error (Refer to
Figure C)
Command pulses received (Refer
to Figure D)
Positioning completion signal (INP)
OFF (Refer to Figure E)
Actual motor speed (Refer to
Figure B)
Combination of command pulse
input and speed (Refer to Figure F)
switched from 2 to 1.
Pn117
0
E.g. The set value is 200 when the condition is a 10% change in torque in 1 millisecond.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Default
−
setting
Explanation
Gain Switching
Delay Time in
Position
Control
*1
(Pn116)
−
−
−
√
−
√
√
√
√
√
√
Pn118
Gain 1 Gain 2 Gain 1
Pn116
Position Fully-closed
Power OFF
0
and ON
(√: Enabled, −: Disabled)
Gain Switching
Gain Switching 1 Hysteresis in
Level in Position Position
Control (Pn117) Control
(Pn118)
− −
− −
− −
*3 *3
√ √
(× 0.05%) (× 0.05%)
− −
√ (r/min) √ (r/min)
√ *4 √ *4
(pulse) (pulse)
− −
− −
√ (r/min) √ (r/min)
*5 *5
√ √
(r/min) (r/min)
−
*2