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7-37
7 Applied Functions
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
7-10 Gain
Swit
c
h
ing
3 Fu
nct
ion
7
7-1
0-1 Oper
ating Con
ditions
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 stabilization 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.
When the conventional gain switching function works correctly, set the time to use Gain 3 in the Gain 3
Effective Time (3605 hex).
Set the magnification ratio of Gain 3 to Gain 1 in the Gain 3 Ratio Setting (3606 hex).
When the Switching Mode in Position Control (3115 hex) is set to 7 (Position command), the operation
is as shown below:
7-10-1 Operating Conditions
Conditions
Operating mode
Position Control Mode
Others
•
Servo ON state.
•
The factors other than control parameters must be set correctly.
This includes the force 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.
3606 hex
Gain 3 Ratio Setting
Set Gain 3 as a multiple of Gain 1.
7-10-3 Operation Example
Operation Timings of Gain 1, 2 and 3
Gain 2
Gain 3
Gain 1
Position command speed [mm/s]
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,
speed feedback filter time constant, and force command filter time constant.
3100 to 3104 hex