![background image](http://html1.mh-extra.com/html/omron/r88d-kn-series/r88d-kn-series_user-manual_742799236.webp)
7 Applied Functions
7-2
8
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Speed Control Mode
*1
Set the level set in Gain Switching Level in Speed Control (3122 hex) to greater than or equal to the hysteresis
set in Gain Switching Hysteresis in Speed Control (3123 hex).
*2
If set to greater than the level set in Gain Switching Level in Speed Control (3122 hex), the hysteresis set in
Gain Switching Hysteresis in Speed Control (3123 hex) will be automatically adjusted to equal to the level set
in Gain Switching Level in Speed Control (3122 hex).
Force Control Mode
*1
Set the level set in Gain Switching Level in Force Control (3126 hex) to greater than or equal to the hysteresis
set in Gain Switching Hysteresis in Force Control (3127 hex).
*2
If set to greater than the level set in Gain Switching Level in Force Control (3126 hex), the hysteresis set in
Gain Switching Hysteresis in Force Control (3127 hex) will be automatically adjusted to equal to the level set in
Gain Switching Level in Force Control (3126 hex).
Index
Name
Description
Reference
3120 hex
Switching Mode in Speed
Control
Set the condition for switching between Gain 1 and
Gain 2.
3121 hex
Gain Switching Delay Time in
Speed Control
Set the time until the gain is actually switched after
switching from the Gain 2 to Gain 1.
(Unit: 0.1 ms)
3122 hex
Gain Switching Level in
Speed Control
*1
Set the judgment level for switching between the
Gain 1 and Gain 2.
The unit depends on the setting of the Switching
Mode.
3123 hex
Gain Switching Hysteresis in
Speed Control
*2
Set the hysteresis width to be provided in the
judgment level set in Gain Switching Level in Speed
Control (3122 hex).
The unit depends on the setting of the Switching
Mode.
Index
Name
Description
Reference
3124 hex
Switching Mode in Force
Control
Set the condition for switching between Gain 1 and
Gain 2.
3125 hex
Gain Switching Delay Time in
Force Control
Set the time until the gain is actually switched after
switching from the Gain 2 to Gain 1.
(Unit: 0.1 ms)
3126 hex
Gain Switching Level in Force
Control
*1
Set the judgment level for switching between the
Gain 1 and Gain 2.
The unit depends on the setting of the Switching
Mode.
3127 hex
Gain Switching Hysteresis in
Force Control
*2
Set the hysteresis width to be provided in the
judgment level set in Gain Switching Level in Force
Control (3126 hex).
The unit depends on the setting of the Switching
Mode.