9 - 11
9 Servo Parameter Objects
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
9-2 Gain Settings
9
• Set the time constant for the first-order lag filter inserted into the feed-forward.
• Setting the filter may improve operation if speed overshooting occurs or the noise during operation is
large when the feed-forward is set high.
For details, refer to 11-10 Feed-forward Function on page 11-32.
• Select either PI/P operation switching or Gain 1/Gain 2 switching.
• The PI/P operation switching is performed with the Speed Loop P/PI Control command in EtherCAT
communications.
Refer to 7-9 Gain Switching Function on page 7-26 for the Gain 1/Gain 2 switching.
Explanation of Settings
• Select the conditions for switching between Gain 1 and Gain 2 when the Gain Switching Input
Operating Mode Selection (3114 hex) is set to 1.
Explanation of Settings
(3: Enabled/–: Disabled)
3113 hex
Force Feed-forward Command Filter
Setting
range
0 to 6,400
Unit
0.01 ms
Default
setting
0 Data
attribute
B
Size 2 bytes (INT16) Access RW PDO map Not possible
3114 hex
Gain Switching Input Operating Mode Selection
Setting
range
0 to 1
Unit
–
Default
setting
1 Data
attribute
B
Size 2 bytes (INT16) Access RW PDO map Not possible
Set value Description
0 Gain 1 (PI/P switching enabled)
1 Gain 1/Gain 2 switching available
3115 hex
Switching Mode in Position Control
Setting
range
0 to 10
Unit
–
Default
setting
0 Data
attribute
B
Size 2 bytes (INT16) Access RW PDO map Not possible
3115 hex
set value
Description
Gain switching
conditions
Gain Switching Delay
Time in Position
Control (3116 hex)
*1
Gain Switching
Level in Position
Control (3117 hex)
*2
Gain Switching
Hysteresis in Position
Control (3118 hex)
*3
0 Always Gain 1 (3100 to
3104 hex).
–– –
1 Always Gain 2 (3105 to
3109 hex).
–– –
2 Gain switching command
input via EtherCAT
communications
*4
–– –
3 Force command 33 [%] 3 [%]
4 Always Gain 1 (3100 to
3104 hex).
–– –
5 Speed command 33 [mm/s] 3 [mm/s]
csp csv
hm
csp
pp
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