Omron R88D-GT series, User Manual

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7-28
7-5 Manual Tuning
7
Adjustment Functions
Speed Control Mode
Torque Control Mode
*1. The Gain Switch Time (Pn32, Pn37) is used when returning from gain 2 to gain 1.
*2. The Gain Switch Hysteresis Setting (Pn34, Pn39) is defined as shown in the following figure.
*3. A setting of 200 is used for a 10% change in torque over a period of 166
μ s.
10%/166
μ
s = setting of 200
×
(0.05%/166
μ
s).
*4. Specify the encoder resolution based on the control mode.
*5. The setting is 1 given the condition of a change in speed of 10 r/min. over a period of 1 s.
*6. The delay, level, and hysteresis have different meanings when Pn31 = 10. (Refer to figure F.)
Gain Switch Setting Setting parameters for speed control mode
Pn31
Conditions for switching to
gain 2 Fig-
ure
Gain Switch Time
*1
Gain Switch Level
Setting
Gain Switch Hysteresis
Setting
*2
Pn32, 37 Pn33, 38 Pn34, 39
0 Always gain 1 --- --- --- ---
1 Always gain 2 --- --- --- ---
2
Switching using Gain Switch
Input (GSEL)
--- --- --- ---
3
Amount of change in torque
command
A  
*3
(0.05%/166 μ s) 
*3
(0.05%/166 μ s)
4
Amount of change in speed
command
B  
*5
(10 r/min/s) 
*5
(10 r/min/s)
5 Command speed C
 
(r/min)

(r/min)
Gain Switch Setting Setting parameters for torque control mode
Pn31
Conditions for switching to
gain 2 Fig-
ure
Gain Switch Time
*1
Gain Switch Level
Setting
Gain Switch Hysteresis
Setting
*2
Pn32, 37 Pn33, 38 Pn34, 39
0 Always gain 1 --- --- --- ---
1 Always gain 2 --- --- --- ---
2
Switching using Gain Switch
Input (GSEL)
--- --- --- ---
3
Amount of change in torque
command
---  
*3
(0.05%/166
μ
s) 
*3
(0.05%/166
μ
s)
Pn33
0
Pn34
Pn32
Gain 1
Gain 1
Gain 2