Omron OMNUC G5 R88M-K series User Manual page 289

Pn117
Gain Switching Level in Position Control
Setting
0 to 20000
range
 This is enabled when the SWITCHING mode in Position Control (Pn115) is 3, 5, 6, 9 or 10. It sets
the judgment level for switching between gain 1 and gain 2.
The unit depends on the SWITCHING mode in Position Control (Pn115).
Pn118
Gain Switching Hysteresis in Position Control
Setting
0 to 20000
range
 Set the hysteresis width above and below the judgment level set in the Gain Switching Level in
Position Control (Pn117).
 The unit depends on the setting of the SWITCHING mode in Position Control (Pn115).
 The following shows the definitions for the Gain Switching Delay Time in Position Control (Pn116),
Gain Switching Level in Position Control (Pn117), and Gain Switching Hysteresis in Position
Control (Pn118).
Pn117
0
 The settings for the Gain Switching Level in Position Control (Pn117) and the Gain Switching
Hysteresis in Position Control (Pn118) are enabled as absolute values (positive/negative).
Pn119
Position Gain Switching Time
Setting
0 to 10000
range
 When the position loop gain increases, the gain changes in the set time.
 When switching between gain 1 and gain 2 is enabled, set the gradual switching time only for
position loop gain at gain switching.
 It inhibits the sudden increase of position loop gain, if the Position Loop Gain 1 (Pn100) and the
Position Loop Gain 2 (Pn105) differs greatly during position control.
(Example)
Kp1 (Pn100)
Pn119=
Kp2 (Pn105)
Gain 1
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Unit
Unit
Pn118
Gain 1 Gain 2 Gain 1
Pn116
Unit
0.1 ms 0.1
Kp1 (Pn100)>Kp2 (Pn105)
0.1 0.1
Thick solid line
0
3
0
1
2
2
1
Thin solid line
3
Gain 2 Gain 1
Default

setting
Default

setting
Default
0.1 ms
setting
8-2 Gain Parameters
Position Full closing
Data
50 B
attribute
Position Full closing
Data
33 B
attribute
Position Full closing
Data
33 B
attribute
8-14
8