Omron R88D-KN ML2 Sries User Manual page 283

SPEED CONTROL mode
In the SPEED CONTROL mode, it varies as follows according to SWITCHING mode in Speed
Control (Pn120).
Pn120
set
value
Always the Gain 1 (Pn100 to Pn104).
0
Always the Gain 2 (Pn105 to Pn109).
1
Gain switching command input via
2 MECHATROLINK-II communications
*3
Torque command variation (Refer to
3
Figure A)
Speed command change amount
4
(Refer to Figure B)
Speed command (Refer to Figure C)
5
*1.The Gain Switching Delay Time in Speed Control (Pn121) becomes effective when the gain is switched
from 2 to 1.
*2.The Gain Switching Hysteresis in Speed Control (Pn123) is defined in the drawing below.
Pn122
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.
*4.The variation means the change amount in a millisecond (ms).
E.g. The set value is 200 when the condition is a 10% change in torque in 1 millisecond.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Gain switching conditions
Gain 1 Gain 2
6-9 Gain Switching Function
Description
Gain Gain
Switching Switching
Delay Time in Level in Speed
Speed Control Control
*1
(Pn121) (Pn122)
Disabled Disabled
Disabled Disabled
Disabled Disabled
Enabled
Enabled
(0.05%)
Enabled
Enabled
(10r/min/s)
Enabled
Enabled
(r/min)
Pn123
Gain 1
Pn121
Gain Switching
Hysteresis in
Speed Control
*2
(Pn123)
Disabled
Disabled
Disabled
*4 *4
Enabled
(0.05%)
*5 *5
Enabled
(10r/min/s)
Enabled
(r/min)
6-30
6