Gain Switching; Parameters Requiring Setting - Omron SMARTSTEP 2 SERIES User Manual

5-7 Gain Switching

5-7 Gain Switching

In Position Control Mode, you can switch between PI (proportional and integral) operation and P
(proportional) operation, or between gain 1 and gain 2.
With PI/P operation switching, the repulsion to external forces applied to the load can be
weakened by eliminating the integral of the speed deviation (i.e., the difference between the speed
command and speed feedback).
Gain 1/gain 2 switching is effective in the following cases:
Reducing the gain to suppress vibration caused by changes in load inertia during operation.
Reducing the gain to suppress vibration due to an increase in speed.
Increasing responsiveness by increasing the gain during operation.
Increasing servo lock rigidity by increasing the gain when stopping.
Reducing the gain to suppress vibration when stopping.
5

Parameters Requiring Setting

Parameter
Parameter name
No.
Gain Switching Input
Pn30 Operating Mode
Selection
Pn31 Gain Switch Setting
Pn32 Gain Switch Time
Gain Switch Level
Pn33
Setting
Gain Switch
Pn34
Hysteresis Setting
Position Loop Gain
Pn35
Switching Time
*1. These settings are disabled when the Gain Switch Setting (Pn31) is set to always use gain1 or gain 2 or set to the
Gain Switching Input (CN1-5).
5-13
Select whether to use PI/P operation switching or gain 1/gain 2
switching in Position Control Mode.
Select the condition for switching between gain 1 and gain 2.
Set the delay time from the moment the condition set in the Gain
*1
Switch Setting (Pn31) is not met until returning to gain 1.
Set the judgment level for switching between gain 1 and gain 2.
The unit for the setting depends on the condition set in the Gain
*1
Switch Setting (Pn31).
Set the hysteresis width above and below the judgment level set
in the Gain Switch Level Setting (Pn33).
When switching between gain 1 and gain 2 is enabled, set the
phased switching time only for the position loop gain at gain
switching.
Explanation Reference
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