Omron R7D-BP, Руководство пользователя

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5-47
5-10 User Parameters
5
Operating Functions
Œ
If the Gain Switching Input Operating Mode Selection (Pn30) is set to 1 (gain switching enabled),
set the phased switching time only for position loop gain at gain switching.
Œ
The switching time is set only when switching from a small position loop gain to a large position
loop gain (Kp1 to Kp2). This is to reduce the shock to the machine due to sudden changes in the
gain.
Œ
Set a value smaller than the difference between Kp2 and Kp1.
Œ
This parameter is automatically changed by executing realtime autotuning function. To set it
manually, set the Realtime Autotuning Mode Selection (Pn21) to 0.
Pn35
Position Loop Gain Switching Time
Setting range 0 to 10000 Unit
(S 1)
(
×
166
µ
s)
Default setting 20
Power OFF
→
ON
---
Position
Kp1 (Pn10) < Kp2 (Pn18)
0
0
1
1
2
2
3
3
Pr35 =
Kp2 (Pn10)
166
166 166
166
µ
s
Kp1 (Pn18)
Example:
Bold solid line
Thin solid line
Gain 1
Gain 2 Gain 1
Pn36 Not used. (Do not change setting.)
Pn37 Not used. (Do not change setting.)
Pn38 Not used. (Do not change setting.)
Pn39 Not used. (Do not change setting.)
Pn3A Not used. (Do not change setting.)
Pn3B Not used. (Do not change setting.)
Pn3C Not used. (Do not change setting.)
Pn3D Not used. (Do not change setting.)
Pn3E Not used. (Do not change setting.)
Pn3F Not used. (Do not change setting.)