R88A-CNG01R Omron, R88A-CNG01R Datasheet - Page 309

• Manufacturer Part Number: R88A-CNG01R
• Description: Encoder Connector ABS Motor
• Manufacturer: Omron

Specifications of R88A-CNG01R

• Lead Free Status / Rohs Status: Lead free / RoHS Compliant

5-11 Gain Switching
Function
Parameters Requiring Settings
Parameter
Pn1A
Pn18
Pn19
Pn30
Pn31
Pn36
No.
• This function switches the speed loop and position loop gain. Enabled when Pn30 is set to 1 and
• If GSEL (gain switching) signal is not input, perform control using the Speed Loop Gain (Pn11),
• If the mechanical system inertia fluctuates too much, or if you want different responsiveness during
• If realtime autotuning is not effective (under the conditions shown below), the gain switching
Note When No. 2 gain has been selected (i.e., GSEL ON), realtime autotuning will not operate
Note Adjust Pn18, Pn19, and Pn1A with GSEL turned ON according to 7-5 Manual Tuning on
Position Loop Gain
2
Speed Loop Gain 2
Speed Loop
Integration Time
Constant 2
Gain Switching
Input Operating
Mode Selection
Control Gain
Switch 1 Setting
Control Gain
Switch 2 Setting
Pn31 is not set to 1, 2, or 4, or when Pn36 is not set to 0 or 1 under Speed Control.
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).
operation and stoppage, you can perform applicable control using 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
• When external force is constantly applied, as with a vertical axis.
Parameter name
rated torque.
normally. If using the gain switching function, set the Realtime Autotuning Mode Selection
(Pn21) to 0 (not used).
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.
Set the responsiveness of the position control system when
gain 2 is selected.
Set the responsiveness of the speed loop when gain 2 is
selected.
Set the integration time constant of the speed loop when
gain 2 is selected.
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).
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.
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).
Explanation
5-11 Gain Switching
Reference page
5-60
5-60
5-61
5-67
5-68
5-72
5-24
5