Gain Switching Function - Omron R88M-K User Manual

Ac servomotors/servo drives g5-series with built-in ethercat communications

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7 Applied Functions

Gain Switching Function

This function switches the position loop and speed loop gain.

Select enable or disable using Gain Switching Input Operating Mode Selection (3114 hex). Set the

switching condition using the gain switching setting.

If the load inertia changes or you want to change the responsiveness depending on whether the motor

is stopping or operating, you can perform optimal control by using gain switching.

The function is used when the realtime autotuning does not work effectively, such as:

• When the load inertia fluctuates in 200 ms or less.

• When the motor rotation speed does not exceed 500 r/min, or load torque does not exceed 50%

of the rated torque.

• When an external force is constantly applied, as with a vertical axis.

Precautions for Correct Use

• When Gain 2 has been selected, realtime autotuning does not operate normally. If using the

gain switching, set the Realtime Autotuning to "Disabled" (3002 hex = 0).

G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)

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