Omron OMNUC G5 User Manual page 380

8-2 Gain Parameters
Pn117
Gain Switching Level in Position Control
Setting
range
This is enabled when the SWITCHING mode in Position Control (Pn115) is set to 3, 5, 6, 9 or 10.
It sets the judgment level for switching between gain 1 and gain 2. The unit depends on the
SWITCHING mode in Position Control (Pn115).
Pn118
Gain Switching Hysteresis in Position Control
Setting
range
Set the hysteresis width above and below the judgment level set in the Gain Switching Level in
Position Control (Pn117). The unit depends on the setting of the SWITCHING mode in Position
Control (Pn115).
The following shows the definitions for the Gain Switching Delay Time in Position Control (Pn116),
Gain Switching Level in Position Control (Pn117), and Gain Switching Hysteresis in Position
Control (Pn118).
The settings for the Gain Switching Level in Position Control (Pn117) and the Gain Switching
Hysteresis in Position Control (Pn118) are enabled as absolute values (positive/negative).
8
Pn119
Position Gain Switching Time
Setting
range
When switching between gain 1 and gain 2 is enabled, set the phased switching time only for
position loop gain at gain switching.
8-15
0 to 20,000 Unit
0 to 20,000 Unit
Pn117
0
Gain 1 Gain 2
0 to 10,000 Unit
0.1 ms 0.1
(Example)
0.1 0.1
Kp1 (Pn100)
Pn119= 0
1
Kp2 (Pn105)
Gain 1 Gain 2
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Default
−
setting
Default
−
setting
Pn118
Gain 1
Pn116
Default
0.1 ms
setting
Kp1 (Pn100)>Kp2 (Pn105)
Thick solid line
0
3
1
2
2
Thin solid line
3
Gain 1
Position Full closing
Power OFF
−
600
and ON
Position Full closing
Power OFF
−
50
and ON
Position Full closing
Power OFF
−
20
and ON