Omron R88D-KN ML2 Sries User Manual

6-27
6-9 Gain Switching Function
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
6
Applied Functions
Parameters Requiring Settings
Parameter
number
Parameter name Explanation Reference
Pn114
GAIN SWITCHING INPUT
OPERATING mode
Selection
Set whether to enable or disable gain switching function.
P.8-10
POSITION CONTROL mode and FULL CLOSING CONTROL mode
Pn115
SWITCHING mode in
Position Control
Set the condition for switching between gain 1 and gain 2.
P.8-11
Pn116
Gain Switching Delay
Time in Position Control
Set the time to return from the gain 2 to gain 1.
(Unit: 0.1 ms)
P.8-12
Pn117
Gain Switching Level in
Position Control
Set the judgment level for switching between the gain 1 and
gain 2.
P.8-13
Pn118
Gain Switching Hysteresis
in Position Control
Set the hysteresis width to be provided in the judgment level
set in Gain Switching Level (Pn117).
P.8-13
Pn119
Position Gain Switching
Time
Set the number of phased switches from low to high gain.
(Unit: 0.1 ms)
P.8-13
SPEED CONTROL mode
Pn120
SWITCHING mode in
Speed Control
Set the condition for switching between gain 1 and gain 2.
P.8-14
Pn121
Gain Switching Delay
Time in Speed Control
Set the time to return from the gain 2 to gain 1.
(Unit: 0.1 ms)
P.8-15
Pn122
Gain Switching Level in
Speed Control
Set the judgment level for switching between the gain 1 and
gain 2.
P.8-15
Pn123
Gain Switching Hysteresis
in Speed Control
Set the hysteresis width to be provided in the judgment level
set in Gain Switching Level (Pn122).
P.8-16
TORQUE CONTROL mode
Pn124
SWITCHING mode in
Torque Control
Set the condition for switching between gain 1 and gain 2.
P.8-16
Pn125
Gain Switching Delay
Time in Torque Control
Set the time to return from the gain 2 to gain 1.
(Unit: 0.1 ms)
P.8-18
Pn126
Gain Switching Level in
Torque Control
Set the judgment level for switching between the gain 1 and
gain 2.
P.8-18
Pn127
Gain Switching Hysteresis
in Torque Control
Set the hysteresis width to be provided in the judgment level
set in Gain Switching Level (Pn126).
P.8-18

Omron R88D-KN ML2 Sries Specifications

General

Brand	Omron
Model	R88D-KN ML2 Sries
Category	Servo Drives
Language	English