Omron R88D-GT series, Руководство пользователя

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5-11 Gain Switching
5
Ope
rati
ng Func
tions
5-11 Gain Switching
Function
• This function switches the speed loop and position loop gain. Enabled when Pn30 is set to 1 and
Pn31 is not set to 1, 2, or 4, or when Pn36 is not set to 0 or 1 under Speed Control.
• If GSEL (gain switching) signal is not input, perform control using the Speed Loop Gain (Pn11),
Speed Loop Integration Time Constant (Pn12), and Position Loop Gain (Pn10). If GSEL is input,
perform control using the Speed Loop Gain 2 (Pn19), Speed Loop Integration Time Constant 2
(Pn1A), and Position Loop Gain 2 (Pn18).
• If the mechanical system inertia fluctuates too much, or if you want different responsiveness during
operation and stoppage, you can perform applicable control using gain switching.
• If realtime autotuning is not effective (under the conditions shown below), the gain switching
function will be useful.
• When the load inertia fluctuates in 200 ms or less.
• When rotation speed does not exceed 500 r/min., or output torque does not exceed 50% of the
rated torque.
• When external force is constantly applied, as with a vertical axis.
Note When No. 2 gain has been selected (i.e., GSEL ON), realtime autotuning will not operate
normally. If using the gain switching function, set the Realtime Autotuning Mode Selection
(Pn21) to 0 (not used).
Parameters Requiring Settings
Note Adjust Pn18, Pn19, and Pn1A with GSEL turned ON according to
7-5 Manual Tuning
on
page 7-21. The Realtime Autotuning Machine Rigidity Selection (Pn22) cannot be applied to
gain 2. Set the default values for adjustment referring to the table on page 7-16.
Parameter
No.
Parameter name Explanation Reference page
Pn18
Position Loop Gain
2 Set the responsiveness of the position control system when
gain 2 is selected.
5-61
Pn19 Speed Loop Gain 2
Set the responsiveness of the speed loop when gain 2 is
selected.
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Pn1A
Speed Loop
Integration Time
Constant 2
Set the integration time constant of the speed loop when
gain 2 is selected.
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Pn30
Gain Switching
Input Operating
Mode Selection
Set switching between PI and P operation for speed control
or switching between gain 1 and gain 2. This parameter can
be set if 0 to 2 is set for the Torque Limit Selection (Pn03)
(setting: 1).
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Pn31
Control Gain
Switch 1 Setting
If 1 is set for the Gain Switching Input Operating Mode
Selection (Pn30), set the switching conditions for gain 1 and
gain 2 (setting: 0).
If a composite mode is set, the setting of this parameter is
valid when the first control mode is used.
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Pn36
Control Gain
Switch 2 Setting
Select the conditions for switching between gain 1 and gain
2 when the second control mode is used. The Gain Switch-
ing Input Operating Mode Selection (Pn30) must be set to 1
(enabled).
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