Omron R88D-GT series User Manual

5-69
5-16 User Parameters
5
Operating Functions
Explanation of Settings
Position Control Mode (: Enabled, ×: Disabled)
Speed Control Mode
Pn31
Control Gain Switch 1 Setting
Setting range 0 to 10 Unit --- Default setting 0
Power OFF→ON
---
Setting
Explanation
Gain switching conditions
Gain Switch 1
Time (Pn32)
*1
Gain Switch 1
Level Setting
(Pn33)
Gain Switch 1
Hysteresis Set-
ting (Pn34)
*2
0 Always gain 1 (Pn10 to Pn14)
×× ×
1 Always gain 2 (Pn18 to Pn1C)
×× ×
2
Switching using Gain Switch Input
(GSEL) for CN1 pin 27
×× ×
3
Amount of change in torque
command (Figure A)


*3
(× 0.05%)

*3
(× 0.05%)
4 Always gain 1 (Pn10 to Pn14)
×× ×
5 Command speed (Figure B)  (r/min)  (r/min)
6
Amount of position deviation
(Figure C)


*4
(Pulse)

*4
(Pulse)
7 Command pulses received (Figure D) 
××
8
Positioning Completed Signal (INP)
OFF (Figure E)

××
9 Actual Servomotor speed (Figure B)  (r/min)  (r/min)
10
Combination of command pulse input
and speed (Figure F)


*5
(r/min)

*5
(r/min)
Setting
Explanation
Gain switching conditions
Gain Switch Time
(Pn32, 37)
*1
Gain Switch
Level Setting
(Pn33, 38)
Gain Switch
Hysteresis Set-
ting (Pn34, 39)
*2
0 Always gain 1 (Pn10 to Pn14)
×××
1 Always gain 2 (Pn18 to Pn1C)
×××
2
Switching using Gain Switch Input
(GSEL) for CN1 pin 27
×××
3
Amount of change in torque
command (Figure A)


*3
(0.05%/166 μs)

*3
(0.05%/166 μs)
4
Amount of change in speed
command (Figure B)


*5
(10 r/min/s)

*5
(10 r/min/s)
5 Command speed (Figure C)  (r/min)  (r/min)
All modes

Omron R88D-GT series Specifications

General

Brand	Omron
Model	R88D-GT series
Category	Controller
Language	English