Omron ACCURAX G5 User Manual page 385

Pn122
0
The settings for the Gain Switching Level in Speed Control (Pn122) and the Gain Switching
Hysteresis in Speed Control (Pn123) are enabled absolute values (positive/negative).
Pn124
SWITCHING mode in Torque Control
Setting
0 to 3
range
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)
Select the switching condition between gain 1 and gain 2 when the Gain 2 Setting (Pn114) is set
to 1.
The gain is always gain 1 regardless of the gain input if the switching input is not assigned when
Pn124=2.
*1. The Gain Switching Delay Time in Torque Control (Pn125) is enabled when returning from gain 2 to
gain 1.
*2. The Gain Switching Hysteresis in Torque Control (Pn127) 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.
Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Gain 1 Gain 2
−
Unit
Gain switching conditions
Pn126
0
Gain 1
Pn123
Gain 1
Pn121
Default
setting
Explanation
Gain
Switching Switching
Delay Time in Level in
Torque Control Torque Control
*1
(Pn125)
− −
− −
− −
√ *3
√
(0.05%)
Pn127
Gain 2 Gain 1
Pn125
8-2 Gain Parameters
Torque
Power OFF
−
0
and ON
Gain
Gain Switching
Hysteresis in
Torque Control
*2
(Pn127)
(Pn126)
−
−
−
√ *3
(0.05%)
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