Setting Gain Switching Conditions - Omron R88D-GT series User Manual

7-5 Manual Tuning
Parameter
No.
Pn20 Inertia Ratio
Gain Switching Input
Pn30
Operating Mode Selection
Pn31 Control Gain Switch 1 Setting
7
Pn32 Gain Switch 1 Time
Pn33 Gain Switch 1 Level Setting
Gain Switch 1 Hysteresis
Pn34
Setting
Position Loop Gain Switching
Pn35
Time
 Setting Gain Switching Conditions
Position Control Mode (: Relevant parameter enabled, ---: Disabled)
Gain Switch Setting
Conditions for switching to
Pn31
gain 2
0 Always gain 1
1 Always gain 2
Switching using Gain Switch
2
Input (GSEL)
Amount of change in torque
3
command
4 Always gain 1
5 Command speed
6 Amount of position deviation
7 Command pulses received
Positioning Completed
8
Output
9 Actual Servomotor speed
Combination of command
10
pulse input and speed
7-27
Perform
manual tuning
Name
without gain
switching.
• Enter the
value for
load calcu-
lation if
already
known.
• Perform
normal
mode auto-
tuning and
measure
the inertia
ratio.
• The default
is 300.
0
Gain Switch Time
Fig-
ure
---
---
---
---
A
---
C
D
F
C
G
Set Gain 2
(Pn18 to Pn1C)
to the same
values as Gain
1 (Pn10 to (Pn30 to Pn35).
Pn14).
Setting parameters for position control mode
Gain Switch Level
*1
Setting
Pn32 Pn33
--- ---
--- ---
--- ---
*3
(0.05%/166 μs)
 
--- ---
 (r/min)

*4
(pulse)
 
---

 ---
 (r/min)

  (r/min)
Set gain Adjust Pn11
switching and Pn14
conditions (for Gain 1)
when stopped.
1
7
30
0
0
0
Gain Switch Hysteresis
*2
Setting
Pn34
---
---
---
*3
(0.05%/166 μs)

---
 (r/min)
*4
(pulse)

---
---
 (r/min)
*6 *6
 (r/min)