6-46
6-12 Gain Switching 3 Function
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6
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 fully-
closed control.
When servo is ON
When there is no trouble with the motor's normal rotation
Parameters Requiring Settings
Operation
Operation Timings of Gain 1, 2 and 3
Example: When the switching mode in position control = 7 and the switching condition is set to
position command received
Precautions for Correct Use
If gain 3 is not used, set the Gain 3 Effective Time (Pn605) to 0 and Gain 3 Ratio Setting (Pn606) to 0.
In the gain 3 region, only the position loop gain and the speed loop gain are treated as gain 3, and
the gain 1 setting is applied for all other gains.
If the gain 2 switching condition is established in the gain 3 region, operation switches to gain 2.
If gain 2 is switching to gain 3, Position Gain Switching Time (Pn119) is enabled.
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.8-60
Pn606 Gain 3 Ratio Setting Set gain 3 as a multiple of gain 1. P.8-60
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
Pn100 to Pn104
The gain 1 value is used for the speed loop integral time constant, speed
feedback filter time constant, and torque command filter time constant.
To Next Page
Loading...
Need help?
General
