Omron OMNUC G5 R88M-K series User Manual page 291

*5. When the set value is 10, meanings of the Gain switching delay time in speed control (Pn121), the
Gain switching level in speed control (Pn122), and the Gain switching hysteresis in speed control
(Pn123) differ from the normal case. (Refer to Figure D).
Speed V
Torque T
ΔT
Level
Time
1 2 2
1
Command speed S
Gain 1
Pn121
Gain Switching Delay Time in Speed Control
Setting
0 to 10000
range
Set the delay time when returning from gain 2 to gain 1 if the SWITCHING mode in Speed Control
(Pn120) is set to 3 to 5.
Pn122
Gain Switching Level in Speed Control
Setting
0 to 20000
range
 In SPEED CONTROL mode, this is enabled when the SWITCHING mode in Speed Control
(Pn120) is set to 3 to 5. Set the judgment level for switching between gain 1 and gain 2.
 The unit depends on the SWITCHING mode in Speed Control (Pn120).
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Figure A
Speed V
Level
Gain 1
Speed V
H
L
Accumulated pulse
L
H
Level
Gain 1 2 2 1
1
Actual speed N
Gain 2
Gain 2 only for the speed loop integral time constant
Gain 1 for all others
Unit 0.1 ms
Unit
8-2 Gain Parameters
Figure B
H
L
Time
Gain 2 Gain 1
Figure C
H
L
Time
Gain 1 Gain 2
Figure D
H
Level
L
Time
Gain 1
Default
setting
Default

setting
1
Speed
Data
0 B
attribute
Speed
Data
0 B
attribute
8-16
8