6
6-28
6-9 Gain Switching Function
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Applied Functions
*4.The variation means the change amount in a millisecond (ms).
E.g. The set value is 200 when the condition is a 10% change in torque in 1 millisecond.
*5.The unit (pulse) of hysteresis is the resolution of the encoder in position control. It is the resolution of
the external encoder in full closing control.
*6. When the set value is 10, meanings of the Gain switching delay time in position control, the Gain
switching level in position control, and the Gain switching hysteresis in position control differ from the
normal case. (Refer to Figure F).
H
L
H
L
H
L
H
L
Figure A
Rotation
speed (V)
Torque (T)
Δ
T
Time
1
1
2
2
2
2
1
1
Gain 1
Figure C
Rotation
speed (V)
Gain 1
Gain 1
Gain 2
Accumulated pulse
Level
Time
Figure D
Commanded
rotation
speed (S)
Gain 1
Gain 1
Gain 2
Time
Figure E
Actual rotation
speed (N)
INP
Gain 1
Gain 1
Gain 2
Time
Figure B
Rotation
speed (V)
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 F
Level
Level
Level
