Omron OMNUC G5 R88D-KT50F User Manual

8-15
8-2 Gain Parameters
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8
Parameter Details
 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).
If the difference between the Position Loop Gain (Pn100) and Position Loop Gain 2 (Pn105) is
large during position control, this parameter can be used to suppress a rapid increase in the
position loop gain. When the gain increases, it will change by the time set for this parameter.
Position Gain Switching Time
The Position Gain Switching Time (Pn119) can be set to more smoothly change the gain and
reduce vibration when a large change is being made in the position loop gain during position
control or fully-closed control. This smooths vibration and the changes in torque that can occur
when the position loop gain is changed too quickly.
Precautions for Correct Use
 If the gain is changed to a smaller value, the setting of this parameter is ignored and the gain is changed immediately.
Example: Pn100 > Pn105
Pn117
Gain Switching Level in Position Control
Setting
range
0 to 20,000 Unit −
Default
setting
50
Power OFF
and ON
−
Position
Fully-closed
Pn118
Gain Switching Hysteresis in Position Control
Setting
range
0 to 20,000 Unit −
Default
setting
33
Power OFF
and ON
−
Position
Fully-closed
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
Fully-closed
Pn100
Pn105
Position Gain
Switching Time [ms]
(Pn119)
Gain in
Pn100
Gain in Pn105Results of switching
Gain in
Pn100

Omron OMNUC G5 R88D-KT50F Specifications

General

Brand	Omron
Model	OMNUC G5 R88D-KT50F
Category	Servo Drives
Language	English