Omron ACCURAX G5 User Manual page 380

8-2 Gain Parameters
GSEL OFF
GSEL ON
For information on switching conditions between gain 1 and gain 2, refer to "6-7 Gain Switching
Function" (P.6-25).
If autotunning is enabled, feedforward gain and filter are set at a fixed value.
Pn115
SWITCHING mode in Position Control
Setting
0 to 10
range
Explanation of Settings
Set
value
0
1
2
8
3
4
5
6
7
8
9
10
Select the conditions for switching between gain 1 and gain 2 when the GAIN SWITCHING INPUT
OPERATING mode Selection (Pn114) is set to 1.
The gain is always gain 1 regardless of the gain input if the Gain Switch input is not assigned to
any input if this setting is 2.
*1. The Gain Switching Delay Time in Position Control (Pn116) is enabled when returning from gain 2 to
8-14
Gain input Speed loop operation
PI operation
P operation
Unit
Gain switching conditions
Always Gain 1 (Pn100 to Pn104)
Always Gain 2 (Pn105 to Pn109)
Switching using gain switching
input (GSEL) for CN1 pin 27
Torque command change amount
(Refer to Figure A)
Always Gain 1 (Pn100 to Pn104)
Command speed (Refer to Figure
B)
Amount of position error (Refer to
Figure C)
Command pulses received (Refer
to Figure D)
Positioning completion signal (INP)
OFF (Refer to Figure E)
Actual motor speed (Refer to
Figure B)
Combination of command pulse
input and speed (Refer to Figure F)
gain 1.
Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Default
−
setting
Explanation
Gain Switching
Delay Time in
Position Level in Position
Control Control (Pn117)
*1
(Pn116)
− −
− −
− −
√
√
(× 0.05%)
− −
√ √ (r/min)
√ √
√ −
√ −
√ √ (r/min)
√ √
Position Full closing
Power OFF
0
and ON
(√: Enabled, −: Disabled)
Gain Switching
Gain Switching 1 Hysteresis in
Position
Control
(Pn118)
−
−
−
*3 √ *3
(× 0.05%)
−
√ (r/min)
√
*4 *4
(pulse) (pulse)
−
−
√ (r/min)
√
*5 *5
(r/min) (r/min)
−
*2