R88A-CNG01R Omron, R88A-CNG01R Datasheet - Page 356

• 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
5-16 User Parameters
5-71
Setting range
Setting range
Setting range
Pn33
Pn34
Pn35
• For Position Control Mode, use this parameter to set the judgment level for switching between gain
• For Speed Control Mode, use this parameter to set the judgment level for switching between gain
• For Torque Control Mode, use this parameter to set the judgment level for switching between gain
• Use this parameter to set the hysteresis width for the judgment level set in the Gain Switch 1 Level
• The settings for the Gain Switch 1 Level Setting (Pn33) and the Gain Switch 1 Hysteresis Setting
• When switching between gain 1 and gain 2 is enabled, set the phased switching time only for
1 and gain 2. If the Control Gain Switch 1 Setting (Pn31) is set to 3, 5, 6, 9, or 10, Pn33 is enabled.
The unit depends on the Control Gain Switch 1 Setting (Pn31).
1 and gain 2. If the Control Gain Switch 1 Setting (Pn31) is set to 3 to 5. Pn33 is enabled. The unit
depends on the Control Gain Switch 1 Setting (Pn31).
1 and gain 2. If the Control Gain Switch 1 Setting (Pn31) is set to 3, Pn33 is enabled. The unit
depends on the Control Gain Switch 1 Setting (Pn31).
Setting (Pn33). The unit depends on the Control Gain Switch 1 Setting (Pn31). The following
shows the definitions for the Gain Switch 1 Time (Pn32), Gain Switch 1 Level Setting (Pn33), and
Gain Switch 1 Hysteresis Setting (Pn34).
(Pn34) are effective as absolute values (positive/negative).
position loop gain at gain switching.
Gain Switch 1 Level Setting
Gain Switch 1 Hysteresis Setting
Position Loop Gain Switching Time
Pn33
Kp1 (Pn10)
Kp2 (Pn18)
Example:
0
0 to 20000
0 to 20000
0 to 10000
Pn35=
Gain 1
Gain 1
0
166
166
Gain 2
Gain 2
Unit
Unit
Unit
166
1
Kp1 (Pn10) > Kp2 (Pn18)
3
2
× 166 µs
Gain 1
Pn32
0
1
2
3
Gain 1
Pn34
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Bold solid line
Thin solid line
Default setting
Default setting
Default setting
600
50
20
Power OFF→ON
Power OFF→ON
Power OFF→ON
All modes
All modes
Position
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