7 Parameter Details
7 - 16
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
• This parameter is enabled when Switching Mode in Position Control (Pn115) is 3, 5, 6, 9 or 10. It sets
the judgment level for switching between Gain 1 and Gain 2. The unit depends on the setting of
Switching Mode in Position Control (Pn115).
• Set the hysteresis width above and below the judgment level set in Gain Switching Level in Position Control
(Pn117). The unit depends on the setting of Switching Mode in Position Control (Pn115).
The definitions of Gain Switching Delay Time in Position Control (Pn116), Gain Switching Level in Position
Control (Pn117), and Gain Switching Hysteresis in Position Control (Pn118) are shown in the drawing below.
• The settings for Gain Switching Level in Position Control (Pn117) and Gain Switching Hysteresis in
Position Control (Pn118) are enabled as absolute values (forward/reverse).
When using the position control, setting Gain Switching Time helps prevent the rapid increase of the position
loop gain if the values set in Position Loop Gain (Pn100) and Position Loop Gain 2 (Pn105) differ significantly.
The position loop gain increases as the set time expires.
Position Gain Switching Time
Position Gain Switching Time (Pn119) can be set to mitigate the torque fluctuations and vibration due to
a sudden change in the position loop gain when gain is switched. This enables a gradual change in the
gain during switching, where the position loop gain gets large, resulting in reduced vibration.
Precautions for Correct Use
Precautions for Correct Use
• When the position loop gain is switched to a smaller value, gain switching occurs immediately
regardless of this parameter setting.
Example: When Position Loop Gain (Pn100) is greater than Position Loop Gain 2 (Pn105)
Pn117
Gain Switching Level in Position Control
Setting
range
0 to 20,000
Unit
–
Default
setting
50
Cycle the
power supply
–
Pn118
Gain Switching Hysteresis in Position Control
Setting
range
0 to 20,000
Unit
–
Default
setting
33
Cycle the
power supply
–
Pn119
Position Gain Switching Time
Setting
range
0 to 10,000
Unit
0.1 ms
Default
setting
33
Cycle the
power supply
–
Position
Position
Pn117
0
Pn118
Pn116
Gain 1
Gain 2
Gain 1
Position
Position Loop
Gain (Pn100)
Position Loop
Gain 2 (Pn105)
Position Gain
Switching Time
[ms] (Pn119)
Position
Loop Gain
Position
Loop Gain
Position Loop Gain 2
Result of switching
Summary of Contents for G5 R88D-KE Series
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