Omron OMNUC G5 R88M-K series User Manual page 290

8-2 Gain Parameters
Pn120
SWITCHING mode in Speed Control
Setting
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 Speed Control
(Pn120) is 2 and the Torque Limit Selection (Pn521) is 3 or 6.
Explanation of Settings
Pn120
set
value
8
*1. The Gain switching delay time in speed control (Pn121) becomes effective when the gain is switched
*2. The Gain switching hysteresis in speed control (Pn123) is defined in the drawing below.
*3. When the Gain switching command of MECHATROLINK-II communications (G-SEL) is 0, the gain
*4. The variation means the change amount in a millisecond (ms).
8-15
0 to 5 Unit
Gain switching conditions
0 Always the Gain 1 (Pn100 to Pn104).
1 Always the Gain 2 (Pn105 to Pn109).
Gain switching command input via
2 MECHATROLINK-II communications
*3
Torque command variation (Refer to
3
Figure A)
Speed command variation (Refer to
4
Figure B)
5 Speed command (Refer to Figure C)
from 2 to 1.
Pn122
0
switches to Gain 1. When the command is 1, the gain switches to Gain 2.
E.g. The set value is 200 when the condition is a 10% change in torque in 1 millisecond.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

Description
Gain switching
delay time in
speed control
*1
(Pn121)
Disabled
Disabled
Disabled
Enabled
Enabled
Enabled
Pn123
Gain 1 Gain 2 Gain 1
Pn121
Default Data
0
setting attribute
Gain switching Gain switching
level in speed hysteresis in
control speed control
(Pn122) (Pn123)
Disabled Disabled
Disabled Disabled
Disabled Disabled
*3
Enabled Enabled
(0.05%) (0.05%)
*4
Enabled Enabled
(10 r/min/s) (10 r/min/s)
Enabled (r/min) Enabled (r/min)
Speed
B
*2
*3
*4