Gain Switching (Position, Speed, Internally-Set Speed Control) - Omron R88M-W User Manual

Operation
H Operation
Position command
REF (speed feed-
forward input
Servomotor operation
Note When a positive voltage speed feed-forward is added, a command to rotate the Servomotor for-
wards is added. If a reverse feed-forward command is added to the pulse train, positioning time
will be lengthened, so check the polarity carefully.
4-8-5 Gain Switching (Position, Speed, Internally-set Speed
Control)
H Functions
• This function switches the speed loop and position loop gain.
• If GSEL (gain switching) signal is not being input, perform control using Pn100 (speed loop gain),
Pn101 (speed loop integration constant), and Pn102 (position loop gain). If GSEL is being input, per-
form control using Pn104 (speed loop gain 2), Pn105 (speed loop integration constant 2), and Pn106
(position loop gain 2).
• If the mechanical system inertia fluctuates too much, or if there is no difference between operation and
standby responses, you can perform applicable control using gain switching.
• If online auto-tuning is not enabled (under the conditions shown below), the gain switching function will
be enabled.
• When using the torque feed-forward function.
• When the load inertia fluctuates by 200 ms max.
• When rotation speed does not exceed 500 r/min., or output torque does not exceed 50% of rated
torque.
• External force is constantly applied, as with a vertical axis.
Note When No. 2 gain has been selected (i.e., GSEL ON), online auto-tuning will not operate normally.
If using the gain switching function, turn OFF online auto-tuning (Pn110.0 = 2).
Chapter 4
Without the feed-forward
function
4-113