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8-16
8-2 Gain Parameters
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8
Parameters Details
Explanation of Settings
(
√
: Enabled,
−
: Disabled)
Œ
Select the conditions for switching between gain 1 and gain 2 when the GAIN SWITCHING INPUT
OPERATING mode Selection (Pn114) is set to 1.
Œ
The gain is always gain 1 regardless of the gain input if the SWITCHING mode in Speed Control
(Pn120) is 2 and the Torque Limit Selection (Pn521) is 3 or 6.
*1. The Gain Switching Delay Time in Speed Control (Pn121) is enabled when returning from gain 2 to
gain 1.
*2. The Gain Switching Hysteresis in Speed Control (Pn123) is defined as shown in the following figure.
*3. The change amount is the value within 1 ms.
[Example] When the condition is a 10% change in torque in 1 ms, the set value is 200.
*4. The meanings of the Gain Switching Delay Time in Speed Control (Pn121), Gain Switching Level in
Speed Control (Pn122), and Gain Switching Hysteresis in Speed Control (Pn123) are different from
normal if this is set to 10. (Refer to Figure D)
Pn120
SWITCHING mode in Speed Control
Setting
range
0 to 10 Unit
−
Default
setting
Power OFF
and ON
−
Speed
Set
value
Explanation
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 Gain 1 (Pn100 to Pn104)
− − −
1 Always Gain 2 (Pn105 to Pn109)
− − −
2
Switching using gain switching input
(GSEL) for CN1 pin 27
− − −
3
Torque command change amount
(Refer to Figure A)
√
√ *3
(0.05%)
√ *3
(0.05%)
4
Speed command change amount
(Refer to Figure B)
√
√ *4
(10 r/min/s)
√ *4
(10 r/min/s)
5 Speed command (Refer to Figure C)
√ √
(r/min)
√
(r/min)
Pn122
0
Pn123
Pn121
Gain 1 Gain 2 Gain 1