Omron OMNUC G5 R88M-K series User Manual page 287

Pn115
SWITCHING mode in Position Control
Setting
0 to 10
range
 Select the conditions for switching between gain 1 and gain 2 when the GAIN SWITCHING INPUT
OPERATING mode Selection (Pn114) is set to 1.
 The gain is always gain 1 regardless of the gain input if the SWITCHING mode in Position Control
(Pn115) is 2 and the Torque Limit Selection (Pn521) is 3 or 6.
Explanation of Settings
Pn115
set
value
0 Always Gain 1 (Pn100 to Pn104).
1 Always Gain 2 (Pn105 to Pn109).
Gain switching command input via
2
MECHATROLINK-II communications
Torque command variation (Refer to
3
Figure A)
4 Always Gain 1 (Pn100 to 104).
5 Command speed (Refer to Figure B)
Amount of position error (Refer to
6
Figure C).
When the position command is entered
7
(Refer to Figure D).
When the positioning complete signal
8
(INP) is OFF (Refer to Figure E).
9 Actual motor speed (Refer to Figure B).
Combination of position command input
10
and rotation speed (Refer to Figure F).
*1. The Gain Switching Delay Time in Position Control (Pn116) becomes effective when the gain is
switched from 2 to 1.
*2. The Gain Switching Hysteresis in Position Control (Pn118) is defined in the drawing below.
*3. When the Gain switching command of MECHATROLINK-II communications is 0, the gain switches to
1. When the command is 1, the gain switches to 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.
*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.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Unit
Gain switching conditions
Pn117
0
Gain 1
Default

setting
Description
Gain switching
Gain switching
delay time in
level in position
position control
control (Pn117)
*1
(Pn116)
Disabled Disabled
Disabled Disabled
Disabled Disabled
*3
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)
Pn118
Gain 2 Gain 1
Pn116
8-2 Gain Parameters
Position Full closing
Data
0 B
attribute
Gain switching
hysteresis in
position control
*2
(Pn118)
Disabled
Disabled
Disabled
*4 *4
Enabled
(0.05%)
Disabled
Enabled(r/min)
*5 *5
Enabled
(pulse)
Disabled
Disabled
Enabled (r/min)
*6 *6
Enabled
(r/min)
8-12
8