Omron OMNUC G5 R88M-K series User Manual page 260

6-9 Gain Switching Function
TORQUE CONTROL mode
In the TORQUE CONTROL mode, it varies as follows according to SWITCHING mode in
Torque Control (Pn124).
Pn124
set
value
*1.The Gain Switching Delay Time in Torque Control (Pn125) becomes effective when the gain is switched
from 2 to 1.
*2.The Gain Switching Hysteresis in Torque Control (Pn127) is defined in the drawing below.
6
*3.When the Gain switching command of MECHATROLINK-II communications (G-SEL) is 0, the gain
switches to Gain 1. When the command is 1, the gain switches to Gain 2.
*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.
6-31
Gain switching conditions
0 Always Gain 1 (Pn100 to Pn104).
1 Always Gain 2 (Pn105 to Pn109).
Gain switching command input via
2 MECHATROLINK-II communications
*3
Torque command change amount
3
(Refer to Figure A)
Pn126
0
Gain 1 Gain 2
Rotation
speed (V)
Torque (T)
ΔT
Level
Time
1 2 2 Gain 1
1
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Description
Gain
Switching
Delay Time in
Torque Control
*1
(Pn125)
Disabled
Disabled
Disabled
Enabled
Pn127
Gain 1
Pn125
Figure A
H
L
L
H
2 2 1
1
Gain
Gain Switching
Switching
Hysteresis in
Level in
Torque Control
Torque Control
(Pn127)
(Pn126)
Disabled Disabled
Disabled Disabled
Disabled Disabled
*4
Enabled Enabled
(0.05%) (0.05%)
*2
*4