Omron OMNUC G5 R88M-K series User Manual page 292

8-2 Gain Parameters
Pn123
Gain Switching Hysteresis in Speed Control
Setting
range
 Set the hysteresis width above and below the judgment level set in the Gain Switching Level in Speed
Control (Pn122).
 The unit depends on the setting of the SWITCHING mode in Speed Control (Pn120).
 The following shows the definitions for the Gain Switching Delay Time in Speed Control (Pn121),
Gain Switching Level in Speed Control (Pn122), and Gain Switching Hysteresis in Speed Control
(Pn123).
 The settings for the Gain Switching Level in Speed Control (Pn122) and the Gain Switching
Hysteresis in Speed Control (Pn123) are enabled absolute values (positive/negative).
Pn124
SWITCHING mode in Torque Control
Setting
range
 Select the switching condition 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 Torque Control
8
(Pn124) is 2 and the Torque Limit Selection (Pn521) is 3 or 6.
Explanation of Settings
Pn124
set
value
*1. The Gain Switching Delay Time in Toque Control (Pn125) becomes effective when the gain is
8-17
0 to 20000 Unit
Pn122
0
Gain 1 Gain 2
0 to 3 Unit
Gain switching conditions
0 Always Gain 1 (Pn100 to Pn104).
1 Always Gain 2 (Pn105 to Pn109).
Gain switching command input via
2 MECHATROLINK-II communications
*3
Torque command variation (Refer to
3
Figure A)
switched from 2 to 1.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Default

setting
Pn123
Gain 1
Pn121
Default

setting
Description
Gain switching Gain switching
delay time in level in torque
torque control
*1
(Pn125) (Pn126)
Disabled Disabled
Disabled Disabled
Disabled Disabled
Enabled
Enabled
Speed
Data
0
attribute
Torque
Data
0
attribute
Gain switching
hysteresis in
control torque control
*2
(Pn127)
Disabled
Disabled
Disabled
*4 *4
Enabled
(0.05%) (0.05%)
B
B