Omron G5 R88D-KE Series, User Manual

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A - 15
Appendices
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
A
-2 P
arameter Lis
t
A
115 Switching
Mode in
Position Control Select the conditions for switching the position
control gain.
Pn114 must be set to 1.
0 – 0 to 10 –
0 Always Gain 1
1 Always Gain 2
2 Switching using gain switching input
(GSEL)
3 Amount of change in torque
command
4 Always Gain 1
5 Command speed
6 Amount of position error
7 Command pulse input
8 Positioning completion output (INP)
OFF
9 Actual motor speed
10 Combination of command pulse input
and motor speed
116 Gain Switching
Delay Time in
Position Control Set the delay time when switching from Gain 2
to Gain 1. 50 0.1
ms 0 to
10,000
–
117 Gain Switching
Level in
Position Control Set the gain switching level. 50 – 0 to
20,000
–
118 Gain Switching
Hysteresis in
Position Control Set the hysteresis in gain switching. 33 – 0 to
20,000
–
119 Position Gain
Switching Time Set the position gain switching time in gain
switching. 33 0.1
ms 0 to
10,000
–
120 Switching
Mode in Speed
Control Select the conditions for switching the speed
control gain.
Pn114 must be set to 1.
0 – 0 to 5 –
0 Always Gain 1
1 Always Gain 2
2 Switching using gain switching input
(GSEL)
3 Amount of change in torque
command
4 Amount of change in speed
command
5 Command speed
121 Gain Switching
Delay Time in
Speed Control Set the delay time when switching from Gain 2
to Gain 1. 0 0.1
ms 0 to
10,000
–
122 Gain Switching
Level in Speed
Control Set the gain switching level. 0 – 0 to
20,000
–
123 Gain Switching
Hysteresis in
Speed Control Set the hysteresis in gain switching. 0 – 0 to
20,000
–
124 Reserved Do not set. 0 – 0 –
Pn
No.
Name Setting Description
Default
setting
Unit
Setting
range
Cycle the
power
supply