Omron OMNUC G5 R88M-K series User Manual page 259

*5.When the set value is 10, meanings of the Gain switching delay time in speed control, the Gain
switching level in speed control, and the Gain switching hysteresis in speed control differ from the
normal case. (Refer to Figure D).
Rotation
speed (V)
Torque (T)
Level
Time
Commanded rotation
speed (S)
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Figure A
ΔT
1 2 2 Gain 1 2 2
1 1
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)
Level
Gain 1 Gain 2
Rotation
speed (V)
H
L
Accumulated pulse
L
Level
H
1
Gain 1 Gain 2
Time
Gain 2
Figure B
H
L
Time
Gain 1
Figure C
H
L
Time
Gain 1
Figure D
H
Level
L
Gain 1
6-30
6