7-33
7 Applied Functions
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
7-9 Gain Switching Function
7
7-9-2 Gain Switching Based on the Control Mode
*5 When the set value is 10, meanings of the Gain Switching Delay Time in Speed Control (3121 hex), the Gain
Switching Level in Speed Control (3122 hex), and the Gain Switching Hysteresis in Speed Control (3123 hex)
differ from the normal case. (Refer to Figure D.)
H
L
H
L
H
L
H
L
Figure A
Rotation
speed (V)
Torque (T)
Time
1
1
22 22
1
1Gain 1
Figure C
Rotation
speed (V)
Gain 1 Gain 1Gain 2
Accumulated pulse
Level
Time
Figure B
Rotation
speed (V)
Gain 1 Gain 1
Gain 2
Time
Commanded rotation
speed (S)
Gain 1 Gain 2
Actual rotation speed (N)
Time
H
L
Gain 1
Gain 2 only for the Speed loop integral time constant,
Gain 1 for other cases
Figure D
Level
Level
Level
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