8-14
8-2 Gain Parameters
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8
Parameter Details
*5. The meanings of the gain switching delay time in position control, gain switching level in position
control, and gain switching hysteresis in position control are different from normal if this is set to 10.
(Refer to Figure F)
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.
H
L
H
L
H
L
H
L
Figure A
Speed V
Torque T
ΔT
Time
1
1
22 22
1
1
Gain 1
Figure C
Speed V
Gain 1 1Gain 2
Accumulated pulses
Level
Time
Figure D
Command
speed S
Gain 1 1Gain 2
Time
Figure E
Actual
speed N
INP
Gain 1 1Gain 2
Time
Figure B
Speed V
Gain 1 Gain 1Gain 2
Time
Command speed S
Gain 1 Gain 2
Actual speed N
Time
H
L
Gain 1
Gain 2 only for the speed loop integral time constant
Gain 1 for all others
Figure F
Level
Level
Level
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
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