Omron SMARTSTEP 2 R88M-G Series User Manual page 291

*2. The Gain Switch Hysteresis Setting (Pn34) is defined as shown in the following figure.
Pn33
0
*3. The amount of change is the value within 166 μs.
Example: When the condition is a 10% change in torque in 166 μs, the set value is 200.
*4. This is the encoder resolution value.
*5. The meanings of the Gain Switch Time, Gain Switch Level Setting, and Gain Switch Hysteresis
Setting are different from normal if this parameter is set to 10. (Refer to Figure F.)
Speed V
Torque T
ΔT
Level
Time
1 2 2 Gain 1
1
Speed V
Level
Time
Gain 1 Gain 2
Command speed S
Gain 1
Gain 2 is used only during the Speed Loop Integration Time Constant.
Gain 1 is used at other times.
Gain 2
Gain 1 Gain 1
Pn32
Figure A
Speed V
Differential pulses
Level
Gain 1
H
L
Command
speed S
L
H
2 2 1
Gain 1
1
Figure B
Actual
H
speed N
L
Gain 1
INP
Gain 1
Actual speed N
Time
Gain 2
7-5 Manual Tuning
Pn34
Figure C
H
L
Time
Gain 2 Gain 1
Figure D
Time
Gain 2 Gain 1
Figure E
Time
Gain 2 Gain 1
Figure F
H
Level
L
Gain 1
7
7-20