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7-29
7 Applied Functions
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
7-9
Gain
Swit
c
h
ing
Fu
nct
ion
7
7-9
-2 Gain Switching Based on the C
ontrol Mode
The settable switching conditions vary depending on the control mode used. Set the objects for each
control mode.
Refer to
Section 9 Servo Parameter Objects
for details on gain-related objects.
In the Position Control mode, operation varies as follows according to Switching Mode in Position
Control (3115 hex).
For operation details, refer to
7-9-3 Diagrams of Gain Switching Setting
Gain switching command input via EtherCAT communications
The gain is switched instantly when a gain switching command is issued via EtherCAT
communications.
Force command
The gain is switched via a force command.
Speed command
The gain is switched via a speed command.
Following error actual value
The gain is switched via the pulse position error in external encoder units.
7-9-2
Gain Switching Based on the Control Mode
Position Control Mode
3115
hex set
value
Gain switching conditions
Gain Switching
Delay Time in
Position Control
(3116 hex)
*1
*1
The Gain Switching Delay Time in Position Control (3116 hex) becomes effective when the gain is switched
from 2 to 1.
Gain Switching
Level in Position
Control
(3117 hex)
*2
*2
Set the level set in Gain Switching Level in Position Control (3117 hex) to greater than or equal to the
hysteresis set in Gain Switching Hysteresis in Position Control (3118 hex).
Gain Switching
Hysteresis in
Position Control
(311
8
hex)
*3
*3
If set to greater than the level set in Gain Switching Level in Position Control (3117 hex), the hysteresis set in
Gain Switching Hysteresis in Position Control (3118 hex) will be automatically adjusted to equal to the level set
in Gain Switching Level in Position Control (3117 hex).
0
Always Gain 1 (3100 to 3104 hex).
Disabled
Disabled
Disabled
1
Always Gain 2 (3105 to 3109 hex).
Disabled
Disabled
Disabled
2
Gain switching command input via
EtherCAT communications
Disabled
Disabled
Disabled
3
Force command
Enabled
Enabled [%]
Enabled [%]
4
Always Gain 1 (3100 to 3104 hex).
Disabled
Disabled
Disabled
5
Speed command
Enabled
Enabled [mm/s]
Enabled [mm/s]
6
Pulse position error
Enabled
Enabled [external
encoder pulses]
Enabled [external
encoder pulses]
7
Position command
Enabled
Disabled
Disabled
8
Positioning not completed
Enabled
Disabled
Disabled
9
Actual motor speed
Enabled
Enabled [mm/s]
Enabled [mm/s]
10
Position c Actual motor speed
Enabled
Enabled [mm/s]
Enabled [mm/s]