Omron OMNUC G User Manual page 420

9-1 Parameter Tables
Pn
Parameter name Setting
No.
Gain Switching
030 Operating Mode
Selection (RT)
Gain Switch
031
Setting (RT)
Gain Switch Time
032
(RT)
9
Gain Switch
033 Level Setting
(RT)
Gain Switch
034 Hysteresis
Setting (RT)
Position Loop
035 Gain Switching
Time (RT)
036 Reserved
037
Reserved
038
Reserved
039
Reserved
03A Reserved
03B Reserved
03C Reserved
03D Jog Speed
03E Reserved
03F Reserved
9-9
Explanation
Enables or disables gain switching.
When enabled, the setting of the Gain Switch
Setting (Pn031) is used as the condition for
switching between gain 1 and gain 2.
Disabled. Uses Gain 1 (Pn010 to Pn014).
0 PI/P operation is switched from
MECHATROLINK-II.
The gain is switched between Gain 1
1 (Pn010 to Pn014) and Gain 2 (Pn018 to
Pn01C).
Sets the trigger for gain switching.
The details depend on the control mode.
0 Always Gain 1
1 Always Gain 2
2 Switching from the network
3 Degree of change in torque command
4 Always Gain 1
5 Speed command
6 Amount of position deviation
7 Position command pulses received
8 Positioning Completed Signal (INP) OFF
9 Actual Servomotor speed
Combination of position command pulses
10
received and speed
Enabled when the Gain Switch Setting (Pn031) is
set to 3, or 5 to 10. Sets the lag time from the trigger
detection to actual gain switching when switching
from gain 2 to gain 1.
Sets the judgment level to switch between Gain 1
and Gain 2 when the Gain Switch Setting (Pn031)
is set to 3, 5, 6, 9, or 10. The unit for the setting
depends on the condition set in the Gain Switch
Setting (Pn031).
Sets the hysteresis of the judgment level for the
Gain Switch Level Setting (Pn033) when the Gain
Switch Setting (Pn031) is set to 3, 5, 6, 9, or 10.
The unit for the setting depends on the condition set
for the Gain Switch Setting (Pn031).
This parameter can prevent the position loop gain
from increasing suddenly when the position loop
gain and position loop gain 2 differ by a large
amount.
When the position loop gain increases, it takes the
×
duration of (set value + 1)
Do not change.
Do not change.
Do not change.
Do not change.
Do not change.
Do not change.
Do not change.
Sets the jog operation speed with the Parameter
Unit or CX-Drive.
Do not change.
Do not change.
Default
Setting
1
2
30
600
50
20
μ
166 s.
0
0
0
0
0
0
0
200
0
0
Setting Set
Unit
Range value
--- 0 to 1 B
--- 0 to 10 B
×
166 0 to
B
μ
s 10000
0 to
--- B
20000
0 to
--- B
20000
×
166 0 to
B
μ
s 10000
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r/min 0 to 500 ---
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