Gain Switching Function - Omron SMARTSTEP 2 SERIES User Manual

7-5 Manual Tuning

Gain Switching Function

With manual tuning, gain 1 and gain 2 can be set manually. For example, the gain can be switched
according to the following conditions.
To increase responsiveness by increasing the gain during operation.
To increase servo lock rigidity by increasing the gain when operation is stopped.
To switch to an optimal gain according to the Operating Mode.
To reduce the gain to suppress vibration when operation is stopped.
The function of switching from gain 1 to gain 2 can be used in a variety of applications.
Explanation of Settings
To use the gain switching function, the Gain Switching Input Operating Mode Selection (Pn30) and
Gain Switch Setting (Pn31) parameters must be set. For details on parameter settings, refer to
Parameter Details on page 5-32.
Gain Switching Input Operating Mode Selection (Pn30)
Set Pn30 to 1 to enable the gain switching function.
Gain Switch Setting (Pn31)
Gain switching can be used by first enabling the gain switching function and then setting the
switching conditions for gain 1 and gain 2 with Gain Switch Setting (Pn31).
7
Pn31
setting
10
*1. The Gain Switch Time (Pn32) is used when switching from gain 2 to gain 1.
7-19
Gain switch condition
0 Always gain 1 (Pn10 to Pn14)
1 Always gain 2 (Pn18 to Pn1C)
2 Switching using Gain Switch Input (GSEL)
at pin CN1-5
3 Amount of change in torque command
(Figure A)
4 Always gain 1 (Pn10 to Pn14)
5 Command speed (Figure B)
6 Amount of position deviation (Figure C)
7 Command pulses received (Figure D)
8 Positioning Completed Signal (INP) OFF
(Figure E)
9 Actual Servomotor speed (Figure B)
Combination of command pulse input and
speed (Figure F)
Explanation
Gain Switch Gain Switch
Time (Pn32) Level Setting
*1
(Pn33)
Disabled Disabled
Disabled Disabled
Disabled Disabled
Enabled Enabled
(× 0.05%)
Disabled Disabled
Enabled Enabled
(r/min)
Enabled Enabled
(pulse)
Enabled Disabled
Enabled Disabled
Enabled Enabled
(r/min)
Enabled Enabled
(r/min)
Gain Switch
Hysteresis
*2
Setting (Pn34)
Disabled
Disabled
Disabled
*3 *3
Enabled
(× 0.05%)
Disabled
Enabled
(r/min)
*4 *4
Enabled
(pulse)
Disabled
Disabled
Enabled
(r/min)
*5 *5
Enabled
(r/min)