Omron R88D-KTA5L User Manual page 456

8-2 Gain Parameters
Pn125
Gain Switching Delay Time in Torque Control
Setting
0 to 10,000
range
 Set the delay time when returning from gain 2 to gain 1 if the Switching Mode in Torque Control
(Pn124) is set to 3.
Pn126
Gain Switching Level in Torque Control
8
Setting
0 to 20,000
range
 This is enabled when the Switching Mode in Torque Control (Pn124) is set to 3. It sets the
judgment level for switching between gain 1 and gain 2. The unit depends on the setting of
Switching Mode in Torque Control (Pn124).
Pn127
Gain Switching Hysteresis in Torque Control
Setting
0 to 20,000
range
 Set the hysteresis width above and below the judgment level set in the Gain Switching Level in
Torque Control (Pn126). The unit depends on the setting of Switching Mode in Torque Control
(Pn124).
The following shows the definitions for the Gain Switching Delay Time in Torque Control (Pn125),
Gain Switching Level in Torque Control (Pn126), and Gain Switching Hysteresis in Torque Control
(Pn127).
 The settings for the Gain Switching Level in Torque Control (Pn126) and the Gain Switching
Hysteresis in Torque Control (Pn127) are enabled as absolute values (positive/negative).
8-19
Speed V
Torque T
ΔT
Level
Time
1 2
Unit
Unit
Unit
Pn126
0
Gain 1 Gain 2
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Figure A
H
L
L
H
2 Gain 1 2 2 1
1 1
Default
0.1 ms
setting
Default
−
setting
Default
−
setting
Pn127
Gain 1
Pn125
Torque
Power OFF
−
0
and ON
Torque
Power OFF
−
0
and ON
Torque
Power OFF
−
0
and ON