Gain Switching Function - Omron R88D-KN ML2 Sries User Manual

6-9 Gain Switching Function

This function switches the position loop and speed loop gain.
Select enable or disable using GAIN SWITCHING INPUT OPERATING mode Selection
(Pn114). Set the switching condition using gain switching setting.
If the load inertia changes or you want to change the responsiveness depending on whether
the motor is stopping and operating, you can perform an optimal control by gain switching.
The function is used when the realtime autotuning does not work effectively, such as:
• When the load inertia fluctuates in 200 ms or less.
• When the motor rotation speed does not exceed 500 r/min, or load torque does not exceed
50% of the rated torque.
• When external force is constantly applied, as with a vertical axis.
Precautions for Correct Use
 When the gain 2 has been selected, realtime autotuning does not operate normally. If using the
gain switching, set the Realtime Autotuning to "Disabled" (Pn002 = 0).
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

6-9 Gain Switching Function

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