Omron R88D-KTA5L User Manual page 454

8-2 Gain Parameters
Speed V
Torque T
Level
Time
8
Pn121
Gain Switching Delay Time in Speed Control
Setting
0 to 10,000
range
 Set the delay time when returning from gain 2 to gain 1 if the Switching Mode in Speed Control
(Pn120) is set to 3 to 5.
Pn122
Gain Switching Level in Speed Control
Setting
0 to 20,000
range
 In Speed Control Mode, this is enabled when the Switching Mode in Speed Control (Pn120) is set
to 3 to 5. Set the judgment level for switching between gain 1 and gain 2. The unit depends on the
Switching Mode in Speed Control (Pn120).
8-17
Figure A
ΔT
1 2 2 Gain 1 2 2
1 1
Command speed S
Actual speed N
Gain 1
Gain 2 only for the speed loop integral time constant
Gain 1 for all others
Unit
Unit
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Speed V
Level
Gain 1 Gain 2
Speed V
H
L
Accumulated pulse
L
H
Level
1
Gain 1 Gain 2
Time
Gain 2
Default
0.1 ms
setting
Default
−
setting
Figure B
H
L
Time
Gain 1
Figure C
H
L
Time
1
Figure D
H
Level
L
Gain 1
Power OFF
0
and ON
Power OFF
0
and ON
Speed
−
Speed
−