Gain Switching Function - Omron OMNUC G5 User Manual

6-7 Gain Switching Function

Outline of Operation
This function switches the position loop and speed loop gain.
Select enable or disable using GAIN SWITCHING INPUT OPERATING mode Selection (Pn114).
Set the switching condition using gain switching setting.
If the load inertia changes or you want to change the responsiveness depending on whether the
motor is stopping and operating, you can perform an optimal control by gain switching.
Use gain switching when the realtime autotuning does not operate effectively, etc. (see below.)
• When the load inertia fluctuates in 200 ms or less.
• When the motor rotation speed does not exceed 500 r/min, or load torque does not exceed
50% of the rated torque.
• When external force is constantly applied, as with a vertical axis.
Note. When the gain 2 has been selected, realtime autotuning will not operate normally. If using the gain
switching, set the Realtime Autotuning to "not use" (Pn002 = 0).
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6-7 Gain Switching Function
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