Omron OMNUC G5 Series User Manual

9-13
9-2 Gain Settings
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9
Details on Servo Parameter Objects
 This object is enabled when the Switching Mode in Position Control (3115 hex) is 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 (3115 hex).
 Set the hysteresis width above and below the judgment level set in the Gain Switching Level in
Position Control (3117 hex).
 The unit depends on the setting of the Switching Mode in Position Control (3115 hex).
 The following shows the definitions for the Gain Switching Delay Time in Position Control (3116
hex), Gain Switching Level in Position Control (3117 hex), and Gain Switching Hysteresis in
Position Control (3118 hex).
 The settings for the Gain Switching Level in Position Control (3117 hex) and the Gain Switching
Hysteresis in Position Control (3118 hex) are enabled as absolute values (positive/negative).
 Torque fluctuations or vibration will occur if the position loop gain is changed too quickly during
position control or fully-closed control. To suppress these, set a Position Gain Switching Time
(3119 hex).
 By setting the Position Gain Switching Time (3119 hex), the gain will be switched gradually when
there is a large change in the position loop gain.
 If there is a large difference between Position Loop Gain 1 (3100 hex) and Position Loop Gain 2
(3105 hex), set the Position Gain Switching Time (3119 hex).
When the position loop gain 1 increases, the gain changes in the set time.
3117 hex
Gain Switching Level in Position Control
Setting
range
0 to 20000 Unit −
Default
setting
50
Data
attribute
B
Size 2 bytes (INT16) Access RW PDO map Not possible.
csp
3118 hex
Gain Switching Hysteresis in Position Control
Setting
range
0 to 20000 Unit −
Default
setting
33
Data
attribute
B
Size 2 bytes (INT16) Access RW PDO map Not possible.
csp
3117h
0
3118h
3116h
Gain 1
Gain 2 Gain 1
3119 hex
Position Gain Switching Time
Setting
range
0 to 10000 Unit 0.1 ms
Default
setting
33
Data
attribute
B
Size 2 bytes (INT16) Access RW PDO map Not possible.
csp

Omron OMNUC G5 Series Specifications

General

Brand	Omron
Model	OMNUC G5 Series
Category	Servo Drives
Language	English