Omron SMARTSTEP 2 SERIES User Manual page 222

5-10 User Parameters
*1. The Gain Switch Time (Pn32) is used when returning from gain 2 to gain 1.
*2. The Gain Switch Hysteresis Setting (Pn34) is defined as shown in the following figure.
*3. The amount of change is the value within 166 µs.
*4. This is the encoder resolution.
*5. The meanings of the Gain Switch Time, Gain Switch Level Setting, and Gain Switch Hysteresis
5
5-45
Pn33
0
Example: When the condition is a 10% change in torque in 166 µs, the set value is 200.
Setting are different from normal if this parameter is set to 10. (Refer to Figure F.)
Speed V
Torque T
∆T
Level
Time
1 2 2 Gain 1
1
Speed V
Level
Time
Gain 1 Gain 2
Command speed S
Gain 1
Gain 2 is used only during the Speed Loop Integration Time Constant.
Gain 1 is used at other times.
Pn34
Gain 2
Gain 1
Gain 1
Pn32
Figure A
Speed V
Differential pulses
Level
Gain 1
H
L
Command
speed S
L
H
2 2 1
Gain 1
1
Figure B
Actual
H
speed N
L
Gain 1
INP
Gain 1
Actual speed N
Time
Gain 2
Figure C
H
L
Time
Gain 2 Gain 1
Figure D
Time
Gain 2 Gain 1
Figure E
Time
Gain 2 Gain 1
Figure F
H
Level
L
Gain 1