6-27
6-9 Gain Switching Function
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
6
Applied Functions
Gain Switching Setting for Each CONTROL mode
The settable switching conditions vary depending on the CONTROL mode used. Set the
parameters for each CONTROL mode.
Refer to “Chapter 8 Parameters Details” for explanation of each gain.
Position Control Mode and Full Closing Control Mode
In the POSITION CONTROL mode and FULL CLOSING CONTROL MODE, it varies as
follows according to SWITCHING mode in Position Control (Pn115).
Pn115
set
value
Description
Gain switching conditions
Gain switching
delay time in
position control
(Pn116)
*1
Gain switching
level in position
control (Pn117)
Gain switching
hysteresis in
position control
(Pn118)
*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 change amount
(Refer to Figure A)
Enabled
Enabled
*4
(
0.05%)
Enabled
*
4
(
0.05%)
4
Always Gain 1 (Pn100 to 104).
Disabled
Disabled
Disabled
5
Command speed (Refer to Figure
B)
Enabled
Enabled
(r/min)
Enabled
(r/min)
6
Amount of position error (Refer to
Figure C).
Enabled
Enabled
*5
(pulse)
Enabled
*
5
(pulse)
7
When the position command is
entered (Refer to Figure D).
Enabled
Disabled
Disabled
8
When the positioning complete
signal (INP) is OFF (Refer to Figure
E).
Enabled
Disabled
Disabled
9
Actual motor speed (Refer to
Figure B).
Enabled
Enabled
(r/min)
Enabled
(r/min)
10
Combination of position command
input and rotation speed (Refer to
Figure F).
Enabled
Enabled
*6
(r/min)
Enabled
*
6
(r/min)
*1.The Gain Switching Delay Time in Position Control (Pn116) becomes effective when the gain is
switched from 2 to 1.
*2.The Gain Switching Hysteresis in Position Control (Pn118) 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.
Pn117
0
Pn118
Pn116
Gain 1
Gain 2
Gain 1