R88A-CNG01R Omron, R88A-CNG01R Datasheet - Page 354

• 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
5-69
Torque Control Mode
• Use this parameter to select the conditions for switching between gain 1 and gain 2 when the Gain
• The gain is always gain 1 regardless of the gain input if the Control Gain Switch 1 Setting (Pn31)
• If the Control Mode Setting (Pn02) is set to a composite mode (3, 4, or 5), the setting of this
*1. The Gain Switch 1 Time (Pn32) is used when returning from gain 2 to gain 1.
*2. The Gain Switch 1 Hysteresis Setting (Pn34) is defined as shown in the following figure.
*3. The amount of change is the value within 166 µs.
*4. This is the encoder resolution.
*5. The meanings of the Gain Switch Time, Gain Switch Level Setting, and Gain Switch Hysteresis
Setting
Switching Input Operation Mode Selection (Pn30) is set to 1.
is 2 and the Torque Limit Selection (Pn03) is 3.
parameter is valid when the first control mode is used.
0
1
2
3
Example: When the condition is a 10% change in torque in 166 µs, the set value is 200.
Setting are different from normal if this parameter is set to 10. (Refer to Figure F.)
Always gain 1 (Pn10 to Pn14)
Always gain 2 (Pn18 to Pn1C)
Switching using Gain Switch Input
(GSEL) for CN1 pin 27
Amount of change in torque command
(Figure A)
Gain switching conditions
Pn33
0
Gain 1
Gain 2
Gain Switch Time
Explanation
(Pn32, 37)
×
×
×
Pn32
Pn34
Gain 1
*1
(0.05%/166 µs)
Level Setting
Gain Switch
(Pn33, 38)
×
×
×
*3
ting (Pn34, 39)
Hysteresis Set-
(0.05%/166 µs)
Gain Switch
×
×
×
*3
*2