Omron ACCURAX G5 User Manual page 381

*2. The Gain Switching Hysteresis in Position Control (Pn118) is defined as shown in the following figure.
*3. The change amount is the value within ms.
[Example] When the condition is a 10% change in torque in 1 ms, the set value is 200.
*4. This is the encoder resolution.
*5. The meanings of the gain switching delay time in position control, gain switching level in position
control, and gain switching hysteresis in position control are different from normal if this is set to 10.
(Refer to Figure F)
Speed V
Torque T
ΔT
Level
Time
1
Speed V
Level
Gain 1
Command speed S
Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Pn117
0
Gain 1
Figure A
H
L
L
H
Gain 1
2 2 2 2 1
1 1
Figure B
H
L
Time
Gain 2 Gain 1
Actual speed N
Gain 1 Gain 2
Gain 2 only for the speed loop integral time constant
Gain 1 for all others
Pn118
Gain 2 Gain 1
Pn116
Speed V
Accumulated pulse error
Level
Time
Gain 1 Gain 2
Command
speed S
Time
Gain 1 Gain 2
Actual
speed N
INP
Time
Gain 1 Gain 2
Time
Gain 1
8-2 Gain Parameters
Figure C
H
L
1
Figure D
1
Figure E
1
Figure F
H
Level
L
8-15
8