Omron R88M-W60010T User Manual page 303

Operation
● Gain Switching Combinations
Switched Speed loop gain
gain
No. 1 gain Pn100 Speed loop
gain
No. 2 gain Pn104 Speed loop
gain 2
● Automatic Gain Switching Pattern
• Automatic Switching Pattern 1 (Pn139.0: 1)
Condition A
Pn139.1
No. 1 gain
Pn100
Pn101
Pn102
Pn401
Waiting time 2
Switching time 2 Pn132
• Even when the switching conditions are met, switching is not executed during the gain switching
waiting time. This is effective for when switching conditions are not stable, or when detailed timing is
set. The switching time is set to reduce shock during gain switching, and the gain is directly
switched during this time. The gain switching waiting time and switching time can be set for No. 1 to
No. 2 and No. 2 to No. 1 gain as shown in the following table.
● Automatic Gain Switching
Parameter setting Switching condition
Pn139.0: 1 Condition A met.
(Automatic switch- Pn139.1
ing pattern 1)
Condition B met.
Pn139.2
● Gain Switching Waiting Time and Gain Switching Time
• The following diagram shows the relationship between the gain switching waiting time and the gain
switching time constant. In this example, automatic gain switching pattern 1 takes the turning ON of
positioning completed signal 1 (INP1) as the condition, and operation is switched from the position
loop gain (Pn102) to the No. 2 position loop gain (Pn106). The switching condition is satisfied when
the INP1 signal turns ON, and then, from that point, operation pauses for the delay time set in
Pn135. Then the gain is directly changed from Pn102 to Pn106 during the switching time set in
Pn131.
Speed loop integral
time constant
Pn101 Speed loop
integration
constant
Pn105 Speed loop
integration
constant 2
Waiting time 1 Pn135
Switching time 1 Pn131
Condition B
Pn136
Pn139.2
Switching gain
No. 1 to No. 2 gain
No. 2 to No. 1 gain
Position loop gain
Pn102 Position loop
gain
Pn106 Position loop
gain 2
No. 2 gain
Pn104
Pn105
Pn106
Pn412
Gain switching
waiting time
Waiting time 1
Pn135
Waiting time 2
Pn136
Chapter 4
Torque command
filter
Pn401 1st step 1st
torque com-
mand filter
time constant
Pn412 1st step 2nd
torque com-
mand filter
time constant
Gain switching
time
Switching time 1
Pn131
Switching time 2
Pn132
4-107