Omron ACCURAX G5 User Manual page 330

6-7 Gain Switching Function
GAIN SWITCHING mode = 8: Switching by Positioning Completion Signal OFF
Switching to the gain 2 occurs when the error counter accumulated pulse exceeds the
Positioning Completion Range 1 (Pn431).
Gain 1
GAIN SWITCHING mode = 10: Switching by Combination of Position Command Received and Speed
Switching to the gain 2 occurs when a position command is received.
If no position command is issued for the period of Gain Switching Delay Time in Speed Control
(Pn121) and the speed also becomes the same as or less than the result of Gain Switching
6
Level (Pn122) - Gain Switching Hysteresis (Pn123) [r/min], switching to the gain 1 will occur.
Gain 1
Timings by Position Gain Switching Time (Pn119)
At the time of gain switching, the speed loop gain, speed loop integral time constant, torque
command filter time constant and speed detection filter switch simultaneously as the switching
command. Under this function, however, switching occurs at the set timings so as to reduce
mechanical vibration and resonance resulting from switching from low to high gain.
The switching time is set in units of 166 μs according to the internal cycle. Set 20 in Pn119. If
the position loop gain is to be raised from 30 to 50 [1/s], increment the gain by 166 μs at a time.
(3.32 ms) If the position loop gain is to be lowered from 50 to 30 [1/s], lower the gain instantly.
Every 166 μs
Low gain
6-30
Amount of error counter accumulated pulse
INP1 ON
Cancelled because the time conditions are not met
Position command
3 3
2
1
Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
INP1 OFF
Gain 2
Pn122
Actual motor speed
Gain 2
N
High gain
INP1 ON
Pn116
Gain 1
Pn116
Gain 1
Low gain
Pn123
Pn121