Gain Switching Function - Omron R88M-K Series User Manual

6-7 Gain Switching Function

6-7 Gain Switching Function
Outline of Operation
 This function switches the position loop and speed loop gain.
 Select enable or disable using Gain Switching Input Operating Mode Selection (Pn114). 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 and operating, you can perform optimal control by using gain switching.
 Use gain switching when the realtime autotuning does not work effectively, etc. (See below.)
Note. When Gain 2 has been selected, realtime autotuning does not operate normally. If using the gain
6
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- 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.
switching, set the Realtime Autotuning to "disabled" (Pn002 = 0).
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