Omron OMNUC R88D-WT15HF - Page 316

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Note Setting Pn10b.1 (speed control loop switching) to 1 (IP control) changes the parameter to switch
from IP control to P control.
Pn10b.1 Speed control setting –– Speed control loop switching (Position, speed, internally-set speed
control)
Setting
range
0, 1 Unit --- Default
setting
0 Restart
power?
Yes
Setting Explanation
Setting Explanation
0 PI control
1 IP control
• Set the speed control loop to either PI control or IP control.
• There is normally no need to change the setting.
• If you cannot shorten positioning time in PI control, change the setting to 1 (IP control).
Note Online auto-tuning does not normally operate in IP control.
Pn10b.2 Speed control setting –– Automatic gain switching selection
Setting
range
0 to 3 Unit --- Default
setting
0 Restart
power?
No
Setting Explanation
Setting Explanation
0 Automatic gain switching disabled.
1 Gain switching using position commands.
2 Gain switching using position deviation.
3 Gain switching using position commands and position deviation
• Sets to enable or disable automatic gain switching.
• When automatic gain switching is used, set in Pn124 (automatic gain switching timer) the switching
delay time after conditions are met.
• when position deviation is used to perform gain switching, set the amount of position deviation used
as the switching condition in Pn125 (automatic gain switching width).
Note 1. Automatic gain switching is enabled for positioning control only. When positioning control is
not used, the Servomotor operates using the No. 1 gain.
Note 2. When automatic gain switching is used (set value is between 1 and 3), gain switching using
GSEL (gain switching input) is disabled.
Note 3. This new parameter is supported by Servo Drivers with software version “r.0037.”
Pn10b.3 Speed control setting –– Not used.
Setting
range
--- Unit --- Default
setting
0 Restart
power?
No
Note Do not change the setting.
Pn10C P control switching (torque command) (Position, speed, internally-set speed control)
Setting
range
0 to 800 Unit % Default
setting
200 Restart
power?
No
Operation Chapter 4