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6
6-45
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.
Œ
When servo is ON
Œ
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
Œ
If gain 3 is not used, set the Gain 3 Effective Time (Pn605) to 0 and Gain 3 Ratio Setting (Pn606) to 0.
Œ
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.
Œ
If the gain 2 switching condition is established in the gain 3 region, this switches to gain 2.
Œ
If gain 2 is switching to gain 3, Position Gain Switching Time (Pn119) is enabled.
Œ
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. P.8-59
Pn606 Gain 3 Ratio Setting Set gain 3 as a multiple of gain 1. P.8-59
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