Gain Switching Setting For Each Control Mode - Omron R88D-KN ML2 Sries User Manual

Gain Switching Setting for Each CONTROL mode

The settable switching conditions vary depending on the CONTROL mode used. Set the
parameters for each CONTROL mode.
Refer to "Chapter 8 Parameters Details" for explanation of each gain.
Position Control Mode and Full Closing Control Mode
In the POSITION CONTROL mode and FULL CLOSING CONTROL MODE, it varies as
follows according to SWITCHING mode in Position Control (Pn115).
Pn115
set
Gain switching conditions
value
Always Gain 1 (Pn100 to Pn104).
0
Always Gain 2 (Pn105 to Pn109).
1
Gain switching command input via
2 MECHATROLINK-II
communications
Torque command change amount
3
(Refer to Figure A)
4 Always Gain 1 (Pn100 to 104).
Command speed (Refer to Figure
5
B)
Amount of position error (Refer to
6
Figure C).
When the position command is
7
entered (Refer to Figure D).
When the positioning complete
8 signal (INP) is OFF (Refer to Figure
E).
Actual motor speed (Refer to
9
Figure B).
Combination of position command
10 input and rotation speed (Refer to
Figure F).
*1.The Gain Switching Delay Time in Position Control (Pn116) becomes effective when the gain is
switched from 2 to 1.
*2.The Gain Switching Hysteresis in Position Control (Pn118) is defined in the drawing below.
Pn117
0
*3.When the Gain switching command of MECHATROLINK-II communications (G-SEL) is 0, the gain
switches to Gain 1. When the command is 1, the gain switches to Gain 2.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Gain switching
position control
*3
Pn118
Gain 1 Gain 2 Gain 1
Pn116
6-9 Gain Switching Function
Description
Gain switching
delay time in
level in position
control (Pn117)
*1
(Pn116)
Disabled Disabled
Disabled Disabled
Disabled Disabled
Enabled
Enabled
(0.05%)
Disabled Disabled
Enabled Enabled
(r/min)
Enabled
Enabled
(pulse)
Enabled Disabled
Enabled Disabled
Enabled Enabled
(r/min)
Enabled
Enabled
(r/min)
Gain switching
hysteresis in
position control
*2
(Pn118)
Disabled
Disabled
Disabled
* 4
*4
Enabled
(0.05%)
Disabled
Enabled
(r/min)
* 5
*5
Enabled
(pulse)
Disabled
Disabled
Enabled
(r/min)
* 6
*6
Enabled
(r/min)
6-28
6