Omron R88M-K User Manual

7-29
7 Applied Functions
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
7-9 Gain Switching Function
7
7-9-1 Objects Requiring Settings
7-9-1 Objects Requiring Settings
Index Name Description Reference
3002 hex Realtime Autotuning Mode
Selection
Set the operation mode for realtime autotuning.
Realtime autotuning cannot be used if the gain switching
function is being used.
page 9-3
3114 hex Gain Switching Input
Operating Mode Selection
Set whether to enable or disable the gain switching function. page 9-11
Position Control Mode and Fully-closed Control Mode
3115 hex Switching Mode in Position
Control
Set the condition for switching between Gain 1 and Gain 2. page 9-11
3116 hex Gain Switching Delay Time in
Position Control
Set the delay time for switching from the Gain 2 to Gain 1.
(Unit: 0.1 ms)
page 9-13
3117 hex Gain Switching Level in
Position Control
Set the judgment level for switching between the Gain 1 and
Gain 2.
page 9-13
3118 hex Gain Switching Hysteresis in
Position Control
Set the hysteresis width to be used for the judgment level set
in Gain Switching Level (3117 hex).
page 9-13
3119 hex Position Gain Switching Time Set the time to change from one position gain to the other one.
(Unit: 0.1 ms)
page 9-14
Speed Control Mode
3120 hex Switching Mode in Speed
Control
Set the condition for switching between gain 1 and gain 2. page 9-15
3121 hex Gain Switching Delay Time in
Speed Control
Set the time to return from the gain 2 to gain 1.
(Unit: 0.1 ms)
page 9-16
3122 hex Gain Switching Level in
Speed Control
Set the judgment level for switching between the gain 1 and
gain 2.
page 9-16
3123 hex Gain Switching Hysteresis in
Speed Control
Set the hysteresis width to be provided in the judgment level
set in Gain Switching Level in Speed Control (3122 hex).
page 9-17
Torque Control Mode
3124 hex Switching Mode in Torque
Control
Set the condition for switching between gain 1 and gain 2. page 9-17
3125 hex Gain Switching Delay Time in
Torque Control
Set the time to return from the gain 2 to gain 1.
(Unit: 0.1 ms)
page 9-18
3126 hex Gain Switching Level in
Torque Control
Set the judgment level for switching between the gain 1 and
gain 2.
page 9-18
3127 hex Gain Switching Hysteresis in
Torque Control
Set the hysteresis width to be provided in the judgment level
set in Gain Switching Level in Torque Control (3126 hex).
page 9-19

Omron R88M-K Specifications

General

Brand	Omron
Model	R88M-K
Category	Controller
Language	English