Omron OMNUC G5 R88D-KN series, Руководство пользователя

Страница: 289 / 458

8-14
8-2 Gain Parameters
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
8
Parameters Details
 This is enabled when the SWITCHING mode in Position Control (Pn115) is 3, 5, 6, 9 or 10. It sets
the judgment level for switching between gain 1 and gain 2.

The unit depends on the SWITCHING mode in Position Control (Pn115).
 Set the hysteresis width above and below the judgment level set in the Gain Switching Level in
Position Control (Pn117).
 The unit depends on the setting of the SWITCHING mode in Position Control (Pn115).
 The following shows the definitions for the Gain Switching Delay Time in Position Control (Pn116),
Gain Switching Level in Position Control (Pn117), and Gain Switching Hysteresis in Position
Control (Pn118).

The settings for the Gain Switching Level in Position Control (Pn117) and the Gain Switching
Hysteresis in Position Control (Pn118) are enabled as absolute values (positive/negative).
 When the position loop gain increases, the gain changes in the set time.
 When switching between gain 1 and gain 2 is enabled, set the gradual switching time only for
position loop gain at gain switching.
 It inhibits the sudden increase of position loop gain, if the Position Loop Gain 1 (Pn100) and the
Position Loop Gain 2 (Pn105) differs greatly during position control.
Pn117
Gain Switching Level in Position Control
Setting
range
0 to 20000 Unit

Default
setting
50
Data
attribute
B
Position Full closing
Pn118
Gain Switching Hysteresis in Position Control
Setting
range
0 to 20000 Unit

Default
setting
33
Data
attribute
B
Position Full closing
Pn117
0
Pn118
Pn116
Gain 1 Gain 2 Gain 1
Pn119
Position Gain Switching Time
Setting
range
0 to 10000 Unit 0.1 ms
Default
setting
33
Data
attribute
B
Position Full closing
Pn119
=
Kp1 (Pn100)
0.1 ms
0.1 0.1
0.1
Kp2 (Pn105)
Gain 1
(Example)
Gain 2
Thick solid line
Thin solid line
Gain 1
0
0
1
1
2
2
3
3
Kp1 (Pn100)
>
Kp2 (Pn105)