Omron OMNUC G5 R88M-K series User Manual page 257

*4.The variation means the change amount in a millisecond (ms).
E.g. The set value is 200 when the condition is a 10% change in torque in 1 millisecond.
*5.The unit (pulse) of hysteresis is the resolution of the encoder in position control. It is the resolution of
the external encoder in full closing control.
*6. When the set value is 10, meanings of the Gain switching delay time in position control, the Gain
switching level in position control, and the Gain switching hysteresis in position control differ from the
normal case. (Refer to Figure F).
Rotation
speed (V)
Torque (T)
Level
Rotation
speed (V)
Level
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Figure A
ΔT
Time
1 2 2 Gain 1 2 2
1 1
Figure B
Time
Gain 2 Gain 1
Commanded rotation
speed (S)
Actual rotation speed (N)
Gain 1
Gain 2 only for the Speed loop integral time constant,
Gain 1 for other cases
6-9 Gain Switching Function
Rotation
speed (V)
Accumulated pulse
Level
Gain 1
H
L
Commanded
rotation
L
speed (S)
H
1
Gain 1 Gain 2
Actual rotation
speed (N)
H
L
INP
Gain 1 Gain 2
Time
Gain 2
Figure C
H
L
Time
Gain 2 Gain 1
Figure D
Time
Gain 1
Figure E
Time
Gain 1
Figure F
H
Level
L
Gain 1
6-28
6