R88A-CNG02R Omron, R88A-CNG02R Datasheet - Page 492

• Manufacturer Part Number: R88A-CNG02R
• Description: Encoder Connector INC Motor
• Manufacturer: Omron

Specifications of R88A-CNG02R

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

9
9-2 Parameter Tables
9-19
No.
Pn
30
31
32
33
34
35
Gain Switching
Input Operating
Mode Selection
Control Gain
Switch 1 Setting
Gain Switch 1
Time
Gain Switch 1
Level Setting
Gain Switch 1
Hysteresis
Setting
Position Loop
Gain Switching
Time
Parameter
name
Setting
Enable or disable gain switching.
If gain switching is enabled, the setting of the Control
Gain Switch Setting (Pn31) is used as the condition
for switching between gain 1 and gain 2.
Select the condition for switching between gain 1 and
gain 2. The details depend on the control mode.
If a composite mode is set, the setting of this param-
eter is valid when the first control mode is used. The
Gain Switching Input Operating Mode Selection
(Pn30) must be set to 1 (enabled).
This parameter is enabled when the Control Gain
Switch 1 Setting (Pn31) is 3 to 10. Set the delay time
from the moment the condition set in the Control Gain
Switch 1 Setting (Pn31) is not met until returning to
gain 1.
This parameter is enabled when the Control Gain
Switch 1 Setting (Pn31) is 3 to 6, 9, or 10. Set the
judgment level for switching between gain 1 and gain
2.
The unit for the setting depends on the condition set
in the Control Gain Switch 1 Setting (Pn31).
Set the hysteresis width above and below the judg-
ment level set in the Gain Switch 1 Level Setting
(Pn33).
When switching between gain 1 and gain 2 is en-
abled, set the phased switching time only for the posi-
tion loop gain at gain switching.
10
0
1
0
1
2
3
4
5
6
7
8
9
Disabled. The gain set in Pn10 to Pn14 is
used, and the Gain Switching Input (GSEL)
will be used to switch between PI operation
and P operation.
Enabled. The gain will be switched between
gain 1 (Pn10 to Pn14) and gain 2 (Pn18 to
Pn1C).
Always gain 1
Always gain 2
Switching using Gain Switching Input
(GSEL)
Amount of change in torque command
Always gain 1
Command speed
Amount of position deviation
Command pulses received
Positioning Completed Signal (INP) OFF
Actual Servomotor speed
Combination of command pulse input and
speed
Explanation
Default
setting
600
30
50
20
1
0
166 µs
166 µs
Unit
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Setting
0 to 10
10000
20000
20000
10000
range
0 to 1
0 to
0 to
0 to
0 to
OFF→
Power
ON
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