Omron OMNUC G5 R88M-K series User Manual page 288

8-2 Gain Parameters
*6. When the set value is 10, meanings of the Gain switching delay time in position control, the Gain
8
Pn116
Gain Switching Delay Time in Position Control
Setting
range
 Set the delay time when returning from gain 2 to gain 1 if the SWITCHING mode in Position Control
(Pn115) is set to 3 or 5 to 10.
8-13
switching level in position control, and the Gain switching hysteresis in position control differ from the
normal case. (Refer to Figure F).
Speed V
Torque T
ΔT
Level
Time
Gain 1
1 2 2
1
Speed V
Level
Time
Gain 1 Gain 2
Command speed S
Gain 1
Gain 2 only for the speed loop integral time constant
Gain 1 for all others
0 to 10000 Unit
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Figure A
Speed V
Accumulated pulse
Level
Gain 1
H
Command
L
speed S
L
H
2 2 1
Gain 1
1
Figure B
Actual
H
speed N
L
Gain 1
INP
Gain 1
Actual speed N
Time
Gain 2
0.1 ms
Figure C
H
L
Time
Gain 2 1
Figure D
Time
Gain 2 1
Figure E
Time
Gain 2 1
Figure F
H
Level
L
Gain 1
Position Full closing
Default Data
50
setting attribute
B