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6-29
6-9 Gain Switching Function
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
6
Applied Functions
SPEED CONTROL mode
In the SPEED CONTROL mode, it varies as follows according to SWITCHING mode in Speed
Control (Pn120).
Pn120
set
value
Description
Gain switching conditions
Gain
Switching
Delay Time in
Speed Control
(Pn121)
*1
Gain
Switching
Level in Speed
Control
(Pn122)
Gain Switching
Hysteresis in
Speed Control
(Pn123)
*2
0
Always the Gain 1 (Pn100 to Pn104).
Disabled
Disabled
Disabled
1
Always the 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%)
4
Speed command change amount
(Refer to Figure B)
Enabled
Enabled
*5
(10r/min/s)
Enabled
*5
(10r/min/s)
5
Speed command (Refer to Figure C)
Enabled
Enabled
(r/min)
Enabled
(r/min)
*1.The Gain Switching Delay Time in Speed Control (Pn121) becomes effective when the gain is switched
from 2 to 1.
*2.The Gain Switching Hysteresis in Speed Control (Pn123) 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.
*4.The variation means the change amount in a millisecond (ms).
E.g. The set value is 200 when the condition is a 10% change in torque in 1 millisecond.
Pn122
0
Pn123
Pn121
Gain 1 Gain 2
Gain 1
Содержание OMNUC G5 R88D-KN series
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