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8-16
8-2 Gain Parameters
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
8
Parameters Details
*5. When the set value is 10, meanings of the Gain switching delay time in speed control (Pn121), the
Gain switching level in speed control (Pn122), and the Gain switching hysteresis in speed control
(Pn123) differ from the normal case. (Refer to Figure D).
Set the delay time when returning from gain 2 to gain 1 if the SWITCHING mode in Speed Control
(Pn120) is set to 3 to 5.
In SPEED CONTROL mode, this is enabled when the SWITCHING mode in Speed Control
(Pn120) is set to 3 to 5. Set the judgment level for switching between gain 1 and gain 2.
The unit depends on the SWITCHING mode in Speed Control (Pn120).
H
L
H
L
H
L
H
L
Figure A
Speed V
Torque T
Δ
T
Time
1
1
2
2
2
2
1
1
Gain 1
Figure C
Speed V
Gain 1
1
Gain 2
Accumulated pulse
Level
Time
Figure B
Speed V
Gain 1
Gain 1
Gain 2
Time
Command speed S
Gain 1
Gain 2
Actual speed N
Time
H
L
Gain 1
Gain 2 only for the speed loop integral time constant
Gain 1 for all others
Figure D
Level
Level
Level
Pn121
Gain Switching Delay Time in Speed Control
Setting
range
0 to 10000
Unit
0.1 ms
Default
setting
0
Data
attribute
B
Speed
Pn122
Gain Switching Level in Speed Control
Setting
range
0 to 20000
Unit
Default
setting
0
Data
attribute
B
Speed