Omron G5 Series User Manual

6 Applied Functions
6 - 30
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
The available gain switching condition settings vary depending on the control mode to be used. Set
parameters for each control mode.
 Position Control Mode
In the position control mode, the available settings depend on the value set in Switching Mode in
Position Control (Pn115).
(√: Enabled, –: Disabled)
 Speed Control Mode
In the speed control mode, the available settings depend on the value set in Switching Mode in
Speed Control (Pn120).
(√: Enabled, –: Disabled)
Gain Switching Setting for Each Control Mode
Pn115
set value
Switching condition
Gain
Switching
Delay Time
(Pn116)
Gain
Switching
Level
(Pn117)
Gain Switching
Hysteresis
(Pn118)
Position Gain
Switching
Time
(Pn119)
0 Always Gain 1
––––
1 Always Gain 2
––––
2 Switching using gain
switching input (GSEL)
–––
√
3 Amount of change in torque
command
√√
[0.05%]
√
[0.05%]
√
4 Always Gain 1
––––
5 Command speed √√
[r/min]
√
[r/min]
√
6 Amount of position error √√
[Pulse]
√
[Pulse]
√
7 Position command input √
––
√
8 Positioning completion
output (INP1) OFF
√
––
√
9 Actual motor speed √√
[r/min]
√
[r/min]
√
10 Combination of position
command input and speed
√√√√
Pn120
set value
Switching condition
Gain Switching
Delay Time
(Pn121)
Gain Switching Level
(Pn122)
Gain Switching
Hysteresis
(Pn123)
0 Always Gain 1
–––
1 Always Gain 2
–––
2 Switching using gain
switching input (GSEL)
–––
3 Amount of change in torque
command
√√
[0.05%]
√
[0.05%]
4 Amount of change in speed
command
–––
5 Speed command √√
[r/min]
√
[r/min]

Omron G5 Series Specifications

General

Feedback	Incremental Encoder, Absolute Encoder
Communication	EtherCAT
Safety Function	STO (Safe Torque Off)
Protection Functions	Overvoltage, Undervoltage, Overcurrent
Vibration Resistance	4.9 m/s² (10 to 55 Hz)