Omron OMNUC G Series User Manual page 287

Parameters Requiring Settings
Parameter
Parameter name
No.
Gain Switching
Pn030 Operating Mode
Selection
Gain Switch
Pn031
Setting
Pn010 Position Loop Gain Sets position loop responsiveness.
Pn011 Speed Loop Gain
Speed Loop
Pn012 Integration Time
Constant
Speed Feedback
Pn013 Filter Time
Constant
Torque Command
Pn014 Filter Time
Constant
Position Loop
Pn018
Gain 2
Pn019 Speed Loop Gain 2 Sets the 2nd speed loop responsiveness.
Speed Loop
Pn01A Integration Time
Constant 2
Speed Feedback
Pn01B Filter Time
Constant 2
Torque Command
Pn01C Filter Time
Constant 2
Gain Switch
Pn032
Time
Gain Switch
Pn033
Level Setting
Gain Switch
Pn034
Hysteresis Setting
Position Loop Gain
Pn035
Switching Time
Explanation
Enable or disable gain switching.
Sets the condition for switching between gain 1 and gain 2.
The conditions depend on the control mode.
Sets speed loop responsiveness.
Adjusts the speed loop integration time constant.
Selects the speed detection filter time constant.
Sets the time constant for the torque command filter.
Sets the 2nd position loop responsiveness.
Adjusts the speed loop integration time constant 2.
Selects the speed detection filter time constant.
Sets the time constant for the 2nd torque command filter.
Sets the time to return from gain 2 to gain 1.
s
(Units: 166 )
Sets the judgment level for switching between gain 1 and
gain 2.
Sets the hysteresis width for the judgment level set in the
Gain Switch Level setting (Pn033).
Sets the number of steps to switch from low gain to high
s
gain. (Units: 166 )
5-16 Gain Switching
Reference page
5-72
5-72
5-67
5-67
5-67
5-67
5-68
5-68
5-68
5-68
5-68
5-68
5-72
5-73
5-73
5-73
5-32
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