Omron SMARTSTEP 2 R88M-G Series User Manual page 229

Gain Switching Input Operating Mode Selection
Pn30
Setting range 0 or 1
 Set this parameter to enable or disable gain switching.
 If gain switching is disabled, the gain switching input can be used to switch between PI operation
and P operation.
 If gain switching is enabled, the setting of the Gain Switch Setting (Pn31) is used as the condition
for switching between gain 1 and gain 2.
Explanation of Settings
Setting
Gain switching is disabled.
0 Gain 1 (Pn10 to Pn14) is used, and the Gain Switch Input (GSEL) will be used to switch be-
tween PI operation and P operation.
Gain switching is enabled.
1
The gain will be switched between gain 1 in (Pn10 to Pn14) and gain 2 (Pn18 to Pn1C).
Gain Switch Setting
Pn31
Setting range 0 to 10
 Select the condition for switching between gain 1 and gain 2.
 The Gain Switch Input Operating Mode Selection (Pn30) must be set to 1 to enable gain switching.
Explanation of Settings
Setting
0 Always gain 1 (Pn10 to Pn14)
1 Always gain 2 (Pn18 to Pn1C)
Switching using Gain Switch Input
2
(GSEL) for pin CN1-5.
Amount of change in torque command
3
(Figure A)
4 Always gain 1 (Pn10 to Pn14)
5 Command speed (Figure B)
6 Amount of position deviation (Figure C)
7 Command pulses received (Figure D)
Positioning Completed Output (INP)
8
OFF (Figure E)
9 Actual Servomotor speed (Figure B)
Combination of command pulse input
10
and speed (Figure F)
Unit ---
Unit ---
Gain switching conditions
5-10 User Parameters
Default setting 1
Explanation
Default setting 0
(: Enabled, ×: Disabled)
Explanation
Gain Switch
Gain Switch
Time
Level Setting
*1
(Pn32)
× ×
× ×
× ×
*3


(× 0.05%)
× ×
  (r/min)
*4


(Pulse)
×

×

 (r/min)

*5


(r/min)
Position
---
Power OFF → ON
Position
---
Power OFF → ON
Gain Switch
Hysteresis Setting
*2
(Pn34)
×
×
×
*3)

(× 0.05%)
×
 (r/min)
*4

(Pulse)
×
×
 (r/min)
*5

(r/min)
5-44
5