Omron R88D-KN ML2 Sries User Manual

6
6-34
6-9 Gain Switching Function
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Applied Functions
GAIN SWITCHING mode = 3: Switching by Torque Command Change Amount
Torque command change amount (angular acceleration and deceleration speed command) is
set in units of 0.05%/166 s.
If the amount of change fluctuates and the switching time is not met, the switching is cancelled.
In the case of switching due to a change amount of 4% over 2 ms, a value of approx. 6 will
apply. (Change of 0.33% per 166 s.)
GAIN SWITCHING mode = 5, 9: Switching by Speed Command or Actual Motor Speed
Gain 1 Gain 1112222
Gain 1
Pn125Pn125
Pn127
Pn127
Pn126
Pn126
Pn127
Pn127
Pn125 Pn125
Speed command
Torque command
Torque change
amount
Gain 1 Gain 1
Gain 2
Speed command or actual motor speed
Pn118, Pn123
Pn117, Pn122
Pn118, Pn123
Pn116, Pn121

Omron R88D-KN ML2 Sries Specifications

General

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