Omron OMNUC G5 R88D-KN series, Руководство пользователя

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6-31
6-9 Gain Switching Function
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
6
Applied Functions
TORQUE CONTROL mode
In the TORQUE CONTROL mode, it varies as follows according to SWITCHING mode in
Torque Control (Pn124).
Pn124
set
value
Description
Gain switching conditions
Gain
Switching
Delay Time in
Torque Control
(Pn125)
*1
Gain
Switching
Level in
Torque Control
(Pn126)
Gain Switching
Hysteresis in
Torque Control
(Pn127)
*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%)
*1.The Gain Switching Delay Time in Torque Control (Pn125) becomes effective when the gain is switched
from 2 to 1.
*2.The Gain Switching Hysteresis in Torque Control (Pn127) 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.
Pn126
0
Pn127
Pn125
Gain 1
Gain 2 Gain 1
H
L
H
L
Figure A
Rotation
speed (V)
Torque (T)
Δ
T
Time
1
1
2 2 2 2
1
1 Gain 1
Level