Omron G5 Series User Manual page 481

Pn
Name
No.
115 Switching
Mode in
Position Control
116 Gain Switching
Delay Time in
Position Control
117 Gain Switching
Level in
Position Control
118 Gain Switching
Hysteresis in
Position Control
119 Position Gain
Switching Time
120 Switching
Mode in Speed
Control
121 Gain Switching
Delay Time in
Speed Control
122 Gain Switching
Level in Speed
Control
123 Gain Switching
Hysteresis in
Speed Control
124 Reserved
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User's Manual
Setting Description
Select the conditions for switching the position
control gain.
Pn114 must be set to 1.
0 Always Gain 1
1 Always Gain 2
2 Switching using gain switching input
(GSEL)
3 Amount of change in torque
command
4 Always Gain 1
5 Command speed
6 Amount of position error
7 Command pulse input
8 Positioning completion output (INP)
OFF
9 Actual motor speed
10 Combination of command pulse input
and motor speed
Set the delay time when switching from Gain 2
to Gain 1.
Set the gain switching level.
Set the hysteresis in gain switching.
Set the position gain switching time in gain
switching.
Select the conditions for switching the speed
control gain.
Pn114 must be set to 1.
0 Always Gain 1
1 Always Gain 2
2 Switching using gain switching input
(GSEL)
3 Amount of change in torque
command
4 Amount of change in speed
command
5 Command speed
Set the delay time when switching from Gain 2
to Gain 1.
Set the gain switching level.
Set the hysteresis in gain switching.
Do not set.
Appendices
Default Setting
Unit
setting range
0 – 0 to 10
50 0.1 0 to
ms 10,000
50 – 0 to
20,000
33 – 0 to
20,000
33 0.1 0 to
ms 10,000
0 – 0 to 5
0 0.1 0 to
ms 10,000
0 – 0 to
20,000
0 – 0 to
20,000
0 – 0
Cycle the
power
supply
–
A
–
–
–
–
–
–
–
–
–
A - 15