8-17
8-2 Gain Parameters
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
8
Parameters Details
Set the hysteresis width above and below the judgment level set in the Gain Switching Level in Speed
Control (Pn122).
The unit depends on the setting of the SWITCHING mode in Speed Control (Pn120).
The following shows the definitions for the Gain Switching Delay Time in Speed Control (Pn121),
Gain Switching Level in Speed Control (Pn122), and Gain Switching Hysteresis in Speed Control
(Pn123).
The settings for the Gain Switching Level in Speed Control (Pn122) and the Gain Switching
Hysteresis in Speed Control (Pn123) are enabled absolute values (positive/negative).
Select the switching condition 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 Torque Control
(Pn124) is 2 and the Torque Limit Selection (Pn521) is 3 or 6.
Explanation of Settings
*1. The Gain Switching Delay Time in Toque Control (Pn125) becomes effective when the gain is
switched from 2 to 1.
Pn123
Gain Switching Hysteresis in Speed Control
Setting
range
0 to 20000
Unit
Default
setting
0
Data
attribute
B
Speed
Pn122
0
Pn123
Pn121
Gain 1
Gain 2
Gain 1
Pn124
SWITCHING mode in Torque Control
Setting
range
0 to 3
Unit
Default
setting
0
Data
attribute
B
Torque
Pn124
set
value
Description
Gain switching conditions
Gain switching
delay time in
torque control
(Pn125)
*1
Gain switching
level in torque
control
(Pn126)
Gain switching
hysteresis in
torque control
(Pn127)
*2
0
Always Gain 1 (Pn100 to Pn104).
Disabled
Disabled
Disabled
1
Always 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
*4
(0.05%)
Enabled
*4
(0.05%)
