Omron R88D-KTA5L User Manual page 452

8-2 Gain Parameters
Pn117
Gain Switching Level in Position Control
Setting
0 to 20,000
range
 This is enabled when the Switching Mode in Position Control (Pn115) is set to 3, 5, 6, 9 or 10. It
sets the judgment level for switching between gain 1 and gain 2. The unit depends on the
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 the Gain Switching Level in
Position Control (Pn117). The unit depends on the setting of the Switching Mode in Position
Control (Pn115).
The following shows the definitions for the Gain Switching Delay Time in Position Control (Pn116),
Gain Switching Level in Position Control (Pn117), and Gain Switching Hysteresis in Position
Control (Pn118).
 The settings for the Gain Switching Level in Position Control (Pn117) and the Gain Switching
Hysteresis in Position Control (Pn118) are enabled as absolute values (positive/negative).
8
Pn119
Position Gain Switching Time
Setting
0 to 10,000
range
If the difference between the Position Loop Gain (Pn100) and Position Loop Gain 2 (Pn105) is
large during position control, this parameter can be used to suppress a rapid increase in the
position loop gain. When the gain increases, it will change by the time set for this parameter.
Position Gain Switching Time
The Position Gain Switching Time (Pn119) can be set to more smoothly change the gain and
reduce vibration when a large change is being made in the position loop gain during position
control or fully-closed control. This smooths vibration and the changes in torque that can occur
when the position loop gain is changed too quickly.
 If the gain is changed to a smaller value, the setting of this parameter is ignored and the gain is changed immediately.
Example: Pn100 > Pn105
8-15
Unit
Unit
Pn117
0
Gain 1 Gain 2
Unit
Precautions for Correct Use
Pn105
Pn100
Gain in
Results of switching
Pn100
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Default
−
setting
Default
−
setting
Pn118
Gain 1
Pn116
Default
0.1 ms
setting
Position Gain
Switching Time [ms]
(Pn119)
Gain in Pn105
Position Fully-closed
Power OFF
−
50
and ON
Position Fully-closed
Power OFF
−
33
and ON
Position Fully-closed
Power OFF
−
33
and ON
Gain in
Pn100