Omron R88D-KN series User Manual

7-29
7 Applied Functions
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
7-9 Gain Switching Function
7
7-9-2 Gain Switching Based on the Control Mode
The settable switching conditions vary depending on the control mode used. Set the objects for each
control mode.
Refer to Section 9 Servo Parameter Objects for details on gain-related objects.
In the Position Control mode, operation varies as follows according to Switching Mode in Position
Control (3115 hex).
For operation details, refer to 7-9-3 Diagrams of Gain Switching Setting on page 7-32.
 Gain switching command input via EtherCAT communications
The gain is switched instantly when a gain switching command is issued via EtherCAT
communications.
 Force command
The gain is switched via a force command.
 Speed command
The gain is switched via a speed command.
 Following error actual value
The gain is switched via the pulse position error in external encoder units.
7-9-2 Gain Switching Based on the Control Mode
Position Control Mode
3115
hex set
value
Gain switching conditions
Gain Switching
Delay Time in
Position Control
(3116 hex)
*1
*1 The Gain Switching Delay Time in Position Control (3116 hex) becomes effective when the gain is switched
from 2 to 1.
Gain Switching
Level in Position
Control
(3117 hex)
*2
*2 Set the level set in Gain Switching Level in Position Control (3117 hex) to greater than or equal to the
hysteresis set in Gain Switching Hysteresis in Position Control (3118 hex).
Gain Switching
Hysteresis in
Position Control
(3118 hex)
*3
*3 If set to greater than the level set in Gain Switching Level in Position Control (3117 hex), the hysteresis set in
Gain Switching Hysteresis in Position Control (3118 hex) will be automatically adjusted to equal to the level set
in Gain Switching Level in Position Control (3117 hex).
0 Always Gain 1 (3100 to 3104 hex). Disabled Disabled Disabled
1 Always Gain 2 (3105 to 3109 hex). Disabled Disabled Disabled
2 Gain switching command input via
EtherCAT communications
Disabled Disabled Disabled
3 Force command Enabled Enabled [%] Enabled [%]
4 Always Gain 1 (3100 to 3104 hex). Disabled Disabled Disabled
5 Speed command Enabled Enabled [mm/s] Enabled [mm/s]
6 Pulse position error Enabled
Enabled [external
encoder pulses]
Enabled [external
encoder pulses]
7 Position command Enabled Disabled Disabled
8 Positioning not completed Enabled Disabled Disabled
9 Actual motor speed Enabled Enabled [mm/s] Enabled [mm/s]
10 Position command + Actual motor speed Enabled Enabled [mm/s] Enabled [mm/s]

Omron R88D-KN series Specifications

General

Brand	Omron
Model	R88D-KN series
Category	Controller
Language	English