Omron ACCURAX G5 User Manual page 383

Explanation of Settings
Set
value
0 Always Gain 1 (Pn100 to Pn104)
1 Always Gain 2 (Pn105 to Pn109)
Switching using gain switching input
2
(GSEL) for CN1 pin 27
Torque command change amount
3
(Refer to Figure A)
Speed command change amount
4
(Refer to Figure B)
5 Speed command (Refer to Figure C)
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 SWITCHING input is not assigned when
Pn120 = 2.
*1. The Gain Switching Delay Time in Speed Control (Pn121) is enabled when returning from gain 2 to
gain 1.
*2. The Gain Switching Hysteresis in Speed Control (Pn123) is defined as shown in the following figure.
*3. The change amount is the value within 1 ms.
[Example] When the condition is a 10% change in torque in 1 ms, the set value is 200.
*4. The meanings of the Gain Switching Delay Time in Speed Control (Pn121), Gain Switching Level in
Speed Control (Pn122), and Gain Switching Hysteresis in Speed Control (Pn123) are different from
normal if this is set to 10. (Refer to Figure D)
Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Gain switching conditions
Pn122
0
Gain 1
Explanation
Gain Gain
Switching Switching
Delay Time in Level in Speed
Speed Control Control
*1
(Pn121) (Pn122)
− −
− −
− −
√ *3
√
(0.05%)
√ *4
√
(10 r/min/s)
√ √ (r/min)
Pn123
Gain 2 Gain 1
Pn121
8-2 Gain Parameters
(√: Enabled, −: Disabled)
Gain Switching
Hysteresis in
Speed Control
*2
(Pn123)
−
−
−
√ *3
(0.05%)
√ *4
(10 r/min/s)
√ (r/min)
8-17
8