Omron G5 Series User Manual page 348

7 Parameter Details
Pn115 Switching Mode in Position Control
Setting 0 to 10
range
Explanation of Settings
Set
value
Gain switching conditions
0 Always Gain 1 (Pn100 to Pn104).
1 Always Gain 2 (Pn105 to Pn109).
2 Switching using gain switching input
(GSEL) for CN1 pin 27
3 Amount of change in torque
command (Refer to Figure A.)
4 Always Gain 1 (Pn100 to Pn104).
5 Command speed (Refer to Figure B.)
6 Amount of position error (Refer to
Figure C.)
7 Command pulse input
(Refer to Figure D.)
8 Positioning completion output (INP1)
OFF (Refer to Figure E.)
9 Actual motor speed (Refer to Figure
B.)
10 Combination of command pulse input
and motor speed (Refer to Figure F.)
• Select the conditions for switching between Gain 1 and Gain 2 when Gain Switching Input Operating
Mode Selection (Pn114) is set to 1.
• This setting is fixed to Gain 1 regardless of the gain input, when Switching Mode in Position Control
(Pn115) is set to 1 and Torque Limit Selection (Pn521) is set to 3 or 6.
*1 Gain Switching Delay Time in Position Control (Pn116) becomes effective when the gain is switched from 2 to 1.
*2 The definition of Gain Switching Hysteresis in Position Control (Pn118) is shown in the drawing below.
*3 This represents the amount of change during the period of 1 ms.
Example: To switch the gain if the torque variation during 1 ms is 10%, set these parameters to 200.
*4 This represents the encoder resolution.
7 - 14
Unit –
Gain Switching
Delay Time in
Position Control
Pn117
0
Gain 1 Gain 2
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User's Manual
Default 0
setting
Description
Gain Switching
Level in Position
Control (Pn117)
*1
(Pn116)
– –
– –
– –
√
√ *3
(0.05%)
– –
√ √ [r/min]
√
*4
√
[Pulse]
√
–
√
–
√ √ [r/min]
√
√ *5
[r/min]
Pn118
Gain 1
Pn116
Position
Cycle the –
power supply
(√: Enabled, –: Disabled)
Gain Switching
Hysteresis in
Position Control
*2
(Pn118)
–
–
–
√ *3
(0.05%)
–
√ [r/min]
*4
√
[Pulse]
–
–
√ [r/min]
√ *5
[r/min]