8-16
8-2 Gain Parameters
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8
Parameter Details
Explanation of Settings
(√: Enabled, −: Disabled)
Select the conditions for switching between gain 1 and gain 2 when the Gain Switching Input
Operating Mode Selection (Pn114) is set to 1.
The gain is always gain 1 regardless of the gain input if the switching input is not assigned when
Pn120 = 2.
*1. The Gain Switching Delay Time in Speed Control (Pn121) becomes effective when the gain is
switched from 2 to 1.
*2. The Gain Switching Hysteresis in Speed Control (Pn123) is defined as shown in the drawing below.
*3. The variation means the change amount in a millisecond (ms).
E.g. The set value is 200 when the condition is a 10% change in torque in 1 millisecond.
*4. The meanings of the Gain Switching Delay Time in Speed Control (Pn121), Gain Switching Level in
Speed Control (Pn122), and Gain Switching Hysteresis in Speed Control (Pn123) are different from
normal if this is set to 10. (Refer to Figure D)
Pn120
Switching Mode in Speed Control
Setting
range
0 to 5 Unit −
Default
setting
0
Power OFF
and ON
−
Speed
Set
value
Explanation
Gain switching conditions
Gain
Switching
Delay Time in
Speed Control
(Pn121)
*1
Gain
Switching
Level in Speed
Control
(Pn122)
Gain Switching
Hysteresis in
Speed Control
(Pn123)
*2
0 Always the Gain 1 (Pn100 to Pn104) −−−
1 Always the Gain 2 (Pn105 to Pn109) −−−
2
Switching using gain switching input
(GSEL) for CN1 pin 27
−−−
3
Torque command variation (Refer to
Figure A)
√
√
*3
(0.05%)
√
*3
(0.05%)
4
Speed command variation (Refer to
Figure B)
√
√
*4
(10 r/min/s)
√
*4
(10 r/min/s)
5 Speed command (Refer to Figure C) √√ (r/min) √ (r/min)
Pn122
0
Pn123
Pn121
Gain 1
Gain 2
Gain 1
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