Omron OMNUC G5 R88M-K series User Manual page 437

Parameter
name
SWITCHING
115 mode in
Position Control
Gain Switching
116 Delay Time in
Position Control
Gain Switching
117 Level in
Position Control
Gain Switching
118 Hysteresis in
Position Control
Position Gain
119
Switching Time
SWITCHING
120 mode in Speed
Control
Gain Switching
121 Delay Time in
Speed Control
Gain Switching
122 Level in Speed
Control
Gain Switching
123 Hysteresis in
Speed Control
SWITCHING
124 mode in Torque
Control
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Function and description
Select the gain switching condition for
position control.
It is necessary that Pn114 be set to 1.
0: Always gain 1
1: Always gain 2
2: Gain switching command input via
MECHATROLINK-II communications
3: Torque command change amount
4: Always gain 1
5: Command speed
6: Amount of position error
7: When the position command is received.
8: Positioning completion signal (INP) OFF
9: Actual motor speed
10: Combination of position command input
and rotation speed
Set the delay time for switching from gain 2
to gain 1.
Set the gain switching level.
Set the hysteresis for gain switching.
Set the position gain switching time for gain
switching.
Select the gain switching condition for speed
control.
It is necessary that Pn114 be set to 1.
0: Always gain 1
1: Always gain 2
2: Gain switching command input via
MECHATROLINK-II communications
3: Torque command change amount
4: Speed command change amount
5: Command speed
Set the delay time for switching from gain 2
to gain 1.
Set the gain switching level.
Set the hysteresis for gain switching.
Select the gain switching condition for
torque control.
It is necessary that Pn114 be set to 1.
0: Always gain 1
1: Always gain 2
2: Gain switching command input via
MECHATROLINK-II communications
3: Torque command change amount
A-1 Parameter List
Default Setting
Unit
setting range attribute

0 0 to 10
0 to
50 0.1 ms
10000
0 to

50
20000
0 to

33
20000
0 to
33 0.1 ms
10000

0 0 to 5
0 to
0 0.1 ms
10000
0 to

0
20000
0 to

0
20000

0 0 to 3
Data
B
B
B
B
B
B
A
B
B
B
B
A-4