8-13
8-2 Gain Parameters
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8
Parameters Details
Explanation of Settings
(
√
: Enabled,
−
: Disabled)
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 Position Control
(Pn115) is 2 and the Torque Limit Selection (Pn521) is 3 or 6.
*1. The Gain Switching Delay Time in Position Control (Pn116) is enabled when returning from gain 2 to
gain 1.
*2. The Gain Switching Hysteresis in Position Control (Pn118) is defined as shown in the following figure.
*3. The change amount is the value within ms.
[Example] When the condition is a 10% change in torque in 1 ms, the set value is 200.
*4. This is the encoder resolution.
Pn115
SWITCHING mode in Position Control
Setting
range
0 to 10
Unit
−
Default
setting
0
Power OFF
and ON
−
Position Full closing
Set
value
Explanation
Gain switching conditions
Gain Switching
Delay Time in
Position
Control
(Pn116)
*1
Gain Switching
Level in Position
Control (Pn117)
Gain Switching
1 Hysteresis in
Position
Control
(Pn118)
*2
0
Always Gain 1 (Pn100 to Pn104)
−
−
−
1
Always Gain 2 (Pn105 to Pn109)
−
−
−
2
Switching using gain switching
input (GSEL) for CN1 pin 27
−
−
−
3
Torque command change amount
(Refer to Figure A)
√
√
*3
(
×
0.05%)
√
*3
(
×
0.05%)
4
Always Gain 1 (Pn100 to Pn104)
−
−
−
5
Command speed (Refer to Figure
B)
√
√
(r/min)
√
(r/min)
6
Amount of position error (Refer to
Figure C)
√
√
*4
(pulse)
√
*4
(pulse)
7
Command pulses received (Refer
to Figure D)
√
−
−
8
Positioning completion signal (INP)
OFF (Refer to Figure E)
√
−
−
9
Actual motor speed (Refer to
Figure B)
√
√
(r/min)
√
(r/min)
10
Combination of command pulse
input and speed (Refer to Figure F)
√
√
*5
(r/min)
√
*5
(r/min)
Pn117
0
Pn118
Pn116
Gain 1
Gain 2
Gain 1