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8-15
8-2 Gain Parameters
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
8
Parameters Details
Select the conditions for switching between gain 1 and gain 2 when the GAIN SWITCHING INPUT
OPERATING mode Selection (Pn114) is set to 1.
The gain is always gain 1 regardless of the gain input if the SWITCHING mode in Speed Control
(Pn120) is 2 and the Torque Limit Selection (Pn521) is 3 or 6.
Explanation of Settings
*1. The Gain switching delay time in speed control (Pn121) becomes effective when the gain is switched
from 2 to 1.
*2. The Gain switching hysteresis in speed control (Pn123) is defined in the drawing below.
*3. When the Gain switching command of MECHATROLINK-II communications (G-SEL) is 0, the gain
switches to Gain 1. When the command is 1, the gain switches to Gain 2.
*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.
Pn120
SWITCHING mode in Speed Control
Setting
range
0 to 5
Unit
Default
setting
0
Data
attribute
B
Speed
Pn120
set
value
Description
Gain switching conditions
Gain switching
delay time in
speed control
(Pn121)
*1
Gain switching
level in speed
control
(Pn122)
Gain switching
hysteresis in
speed control
(Pn123)
*2
0
Always the Gain 1 (Pn100 to Pn104).
Disabled
Disabled
Disabled
1
Always the Gain 2 (Pn105 to Pn109).
Disabled
Disabled
Disabled
2
Gain switching command input via
MECHATROLINK-II communications
*3
Disabled
Disabled
Disabled
3
Torque command variation (Refer to
Figure A)
Enabled
Enabled
*3
(0.05%)
Enabled
*3
(0.05%)
4
Speed command variation (Refer to
Figure B)
Enabled
Enabled
*4
(10 r/min/s)
Enabled
*4
(10 r/min/s)
5
Speed command (Refer to Figure C)
Enabled
Enabled (r/min)
Enabled (r/min)
Pn122
0
Pn123
Pn121
Gain 1
Gain 2
Gain 1