8-13
8-2 Gain Parameters
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
8
Parameters Details
*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).
Set the delay time when returning from gain 2 to gain 1 if the SWITCHING mode in Position Control
(Pn115) is set to 3 or 5 to 10.
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 D
Command
speed S
Gain 1
1
Gain 2
Time
Figure E
Actual
speed N
INP
Gain 1
1
Gain 2
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 F
Level
Level
Level
Pn116
Gain Switching Delay Time in Position Control
Setting
range
0 to 10000
Unit
0.1 ms
Default
setting
50
Data
attribute
B
Position Full closing
