Omron ACCURAX G5 - Page 382

8-16
8-2 Gain Parameters
Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8
Parameters Details
 Set the delay time when returning from gain 2 to gain 1 if the SWITCHING mode in Position Control
(Pn115) is set to 3 or 5 to 10.
 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).
 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).
 When switching between gain 1 and gain 2 is enabled, set the rate of change for position loop gain
when gain switching is ececuted.
Pn116
Gain Switching Delay Time in Position Control
Setting
range
0 to 10,000 Unit 0.1 ms
Default
setting
50
Power OFF
and ON
−
Position
Full closing
Pn117
Gain Switching Level in Position Control
Setting
range
0 to 20,000 Unit −
Default
setting
50
Power OFF
and ON
−
Position
Full closing
Pn118
Gain Switching Hysteresis in Position Control
Setting
range
0 to 20,000 Unit −
Default
setting
33
Power OFF
and ON
−
Position
Full closing
Pn117
0
Pn118
Pn116
Gain 1
Gain 2 Gain 1
Pn119
Position Gain Switching Time
Setting
range
0 to 10,000 Unit 0.1 ms
Default
setting
33
Power OFF
and ON
−
Position
Full closing
Pn119=
Kp1 (Pn100)
0.1 ms
0.1 0.1
0.1
Kp2 (Pn105)
Gain 1
(Example)
Gain 2
Thick solid line
Thin solid line
Gain 1
0
0
1
1
2
2
3
3
Kp1 (Pn100)>Kp2 (Pn105)
Pn120
SWITCHING mode in Speed Control
Setting
range
0 to 5 Unit −
Default
setting
0
Power OFF
and ON
−
Speed