Omron R88D-KN ML2 Sries User Manual

6-35
6-9 Gain Switching Function
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
6
Applied Functions
GAIN SWITCHING mode (Pn031) = 6: Switching by Amount of Position Error
Gain switching is performed based on the accumulated count in the error counter.
GAIN SWITCHING mode = 7: Switching by Position Command Received
Gain switching is performed when a position command corresponding to 1 command unit or
more is received.
GAIN SWITCHING mode = 8: Switching by Positioning Completion Signal OFF
Switching to the gain 2 is performed when the error counter accumulated pulse exceeds the
Positioning Completion Range 1 (Pn431).
Gain 1 Gain 1
Gain 2
Amount of position error
Pn118
Pn117
Pn118
Pn116
Gain 1 Gain 1
Gain 2
Pn116
Position command
Gain 1 Gain 1
Gain 2
Pn116
INP1 ON INP1 ON
INP1 OFF
Amount of error counter accumulated pulse
Cancelled because the time conditions are not met

Omron R88D-KN ML2 Sries Specifications

General

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