Omron G5 Series - 6-7 Gain Switching Function

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6 Applied Functions
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
6-7 Gain Switching Function
6
6-7-1 Outline of the Function
6-7 Gain Switching Function
• The gain switching function switches the position and speed loop gain.
• Select “enable” or “disable” in Gain Switching Input Operating Mode Selection (Pn114). Set the
switching condition using the gain switching setting.
• If the load inertia changes or you want to change the responsiveness depending on whether the
motor is stopping or operating, you can perform optimal control by using gain switching.
• The gain switching function is used when realtime autotuning does not work effectively, such as:
• When the load inertia fluctuates at 200 ms or less
• When the motor rotation speed does not exceed 500 r/min, or the load torque does not exceed
50% of the rated torque
• When an external force is constantly applied, as with a vertical axis
Note While Gain 2 is selected, realtime autotuning does not operate normally. To use the gain switching function,
set Realtime Autotuning Mode Selection to “disabled” (Pn002 = 0).
6-7-1 Outline of the Function