Omron OMNUC G User Manual page 269

Gain switching in position control mode
In position control mode the Gain Switch Setting (Pn031) changes as follows.
Pn031
Switching condition
setting
0 Always Gain 1
1 Always Gain 2
2 Switching from the network
Amount of change in torque
3
command
4 Always Gain 1
5 Speed command
6 Amount of position deviation
Position command pulses
7
received
Positioning Completed
8
Signal (INP1) OFF
9 Actual Servomotor speed
Combination of position
10 command pulses received
and speed
Gain switching in speed control mode
In speed control mode the Gain Switch Setting (Pn031) changes as follows.
Pn031
Switching condition
setting
0 Always Gain 1
1 Always Gain 2
2 Switching from network
Amount of change in torque
3
command
4 Always Gain 1
5 Speed command
Gain Switch
Gain Switch
Level Setting
Time (Pn032)
(Pn033)
x x
x x
x x
O
O
×
( 0.05%)
x x
O
O
(r/min)
O
O
(pulse)
O x
O x
O
O
(r/min)
O O
(O: Supported,
Gain Switch
Gain Switch
Level Setting
Time (Pn032)
(Pn033)
x x
x x
x x
O
O
×
( 0.05%)
x x
O
O
(r/min)
5-16 Gain Switching
(O: Supported, x : Not supported)
Gain Switch Position Loop
Hysteresis Gain Switching
Setting (Pn034) Time (Pn035)
x x
x x
x O
O
O
×
( 0.05%)
x x
O
O
(r/min)
O
O
(pulse)
x O
x O
O
O
(r/min)
O O
: Not supported)
x
Gain Switch
Hysteresis
Setting (Pn034)
x
x
x
O
×
( 0.05%)
x
O
(r/min)
5
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