Omron R88M-K User Manual

7 Applied Functions
7-38
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
7-10 Gain Switching 3 Function
This function adds a new setting (gain 3) to the gain switching function of the Gain Switching Input
Operating Mode Selection (3114 hex).
The positioning time can be reduced by keeping the gain immediately before the stop at a higher level
for a certain period of time.
You can use the gain 3 switching function in the following situations for position control or fully-closed
control.
When the conventional gain switching function works correctly, set the time to use Gain 3 in Gain 3
Effective Time (3605 hex), and the magnification of Gain 3 against Gain 1 in the Gain 3 Ratio Setting
(3606 hex).
When the Switching Mode in Position Control (3115 hex) is set to 7, i.e., when the command pulses are
received as the switching condition, the operation will be as shown below:
7-10-1 Operating Conditions
Conditions
Operating mode Position Control Mode or Fully-closed Control Mode
Others • Servo ON state.
• The factors other than control parameters must be set correctly.
This includes the torque limit. The motor must operate normally without any failures.
7-10-2 Objects Requiring Settings
Index Name Explanation Reference
3605 hex Gain 3 Effective Time Set effective time of gain 3. page 9-47
3606 hex Gain 3 Ratio Setting Set gain 3 as a multiple of gain 1. page 9-47
7-10-3 Operation Example
Operation Timings of Gain 1, 2 and 3
Gain 2
Gain 3
Gain 1
Position command speed [r
/
min]
3605 hex × 0.1 ms
3105 to 3109 hex
Gain 3 region
Position loop gain = 3100 × 3606 hex/100
Speed loop gain = 3101 × 3606 hex/100
The gain 1 values are used for the speed loop integral time constant,
s
p
eed feedback filter time constant, and tor
q
ue command filter time constant.
3100 to 3104 hex

Omron R88M-K Specifications

General

Brand	Omron
Model	R88M-K
Category	Controller
Language	English