7 Applied Functions
7-32
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
This section describes the timing in which switching between Gain 1 (3100 to 3104 hex) and Gain 2
(3105 to 3109 hex) occurs.
Switching between Gain 1 (3100 to 3104 hex) and Gain 2 (3105 to 3109 hex) occurs at the following
timing, depending on the set value of the Switching Mode in Position Control (3115 hex), Switching
Mode in Speed Control (3120 hex), or Switching Mode in Force Control (3124 hex).
For the position loop gain, however, switching occurs based on the Position Gain Switching Time (3119
hex) setting.
When the Gain Switching command of EtherCAT communications (G-SEL) is 0, the gain switches to
Gain 1. When the command is 1, the gain switches to Gain 2.
Instant switching occurs when a gain switching command is issued from the network.
If the absolute value of the force command exceeds the value of the Gain Switching Level plus the Gain
Switching Hysteresis [%], the gain switches to Gain 2.
If the absolute value of the force command is less than the value of the Gain Switching Level minus the
Gain Switching Hysteresis [%] and this condition lasts for the time specified in the Gain Switching Delay
Time, the gain switches back to Gain 1.
7-9-3 Diagrams of Gain Switching Setting
2: Gain Switching Command Input via EtherCAT Communications
3: Command Force
Gain 1
GSEL
Gain 1
Gain 2
Gain switching instruction
Position command
Level
Hysteresis
Hysteresis
Delay time
Delay time
Level
Hysteresis
Hysteresis
Gain 1
Gain 1
Gain 1
Speed command
Force
command
Gain 2
Gain 2
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