6-24
6-7 Gain Switching Function
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6
Applied Functions
6-7 Gain Switching Function
Outline of Operation
This function switches the position loop and speed loop gain.
Select enable or disable using Gain Switching Input Operating Mode Selection (Pn114). Set the
switching condition using the gain switching setting.
If the load inertia changes or you want to change the responsiveness depending on whether the
motor is stopping and operating, you can perform optimal control by using gain switching.
Use gain switching when the realtime autotuning does not work effectively, etc. (See below.)
- When the load inertia fluctuates in 200 ms or less.
- When the motor rotation speed does not exceed 500 r/min, or load torque does not exceed
50% of the rated torque.
- When an external force is constantly applied, as with a vertical axis.
Note. When Gain 2 has been selected, realtime autotuning does not operate normally. If using the gain
switching, set the Realtime Autotuning to "disabled" (Pn002 = 0).
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