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6-12 Gain Switching 3 Function
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Applied Functions
6-12 Gain Switching 3 Function
Outline of Operation
You can newly set gain 3 right before stopping to the gain switching function of GAIN
SWITCHING INPUT OPERATING mode Selection (Pn114).
You can use the gain 3 switching function in the following situations for position control or full
closing control.
When servo is ON
When there is no trouble with the motor's normal rotation
Parameters Requiring Settings
Operation
Gains 1, 2 and 3 Operation Timings
Example: When the SWITCHING mode in position control = 7 and the switching condition is
set to position command received
Precautions for Correct Use
If gain 3 is not used, set the Gain 3 Effective Time (Pn605) to 0 and Gain 3 Ratio Setting (Pn606) to 0.
Only the position loop gain and the speed loop gain are treated as gain 3 in the gain 3 region, and
the gain 1 setting is applied to all other gains.
If the gain 2 switching condition is established in the gain 3 region, this switches to gain 2.
If gain 2 is switching to gain 3, Position Gain Switching Time (Pn119) is enabled.
Take note that there will be a gain 3 region even when gain 2 is switched to gain 1 due to a
parameter change and so forth.
Parameter
number
Parameter name
Explanation
Reference
Pn605
Gain 3 Effective Time
Set effective time of gain 3.
Pn606
Gain 3 Ratio Setting
Set gain 3 as a multiple of gain 1.
Gain 2
Gain 3
Gain 1
Position command speed [r/min]
Pn605
×
0.1ms
Pn105 to Pn109
Gain 3 region
Position loop gain
=
Pn100
×
Pn606/100
Speed loop gain
=
Pn101
×
Pn606/100
Continue to use gain 1 value for the speed loop integral time constant,
speed feedback filter time constant, and torque command filter time constant.
Pn100 to Pn104
Содержание OMNUC G5
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