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9-11
9 Servo Parameter Objects
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
9-2 Gain
Setti
ngs
9
•
Set the time constant for the first-order lag filter inserted into the feed-forward.
•
Setting the filter may improve operation if speed overshooting occurs or the noise during operation is
large when the feed-forward is set high.
Refer to
•
Select either PI/P operation switching or Gain 1/Gain 2 switching.
•
The PI/P operation switching is performed with the Speed Loop PI/P Control command in EtherCAT
communications.
Refer to
7-10 Gain Switching 3 Function
on page 7-37 for the Gain 1/Gain 2 switching.
Explanation of Settings
•
Select the conditions for switching between Gain 1 and Gain 2 when the Gain Switching Input
Operating Mode Selection (3114 hex) is set to 1.
Explanation of Settings
3113 hex
Force Feed-forward Command Filter
Setting range
0 to 6400
Unit
0.01 ms
Default setting
0
Data attribute
B
Size
2 bytes (INT16)
Access
RW
PDO map
Not possible.
3114 hex
Gain Switching Input Operating Mode Selection
Setting range
0 to 1
Unit
Default setting
1
Data attribute
B
Size
2 bytes (INT16)
Access
RW
PDO map
Not possible.
Set value
Description
0
Gain 1 (PI/P switching enabled)
1
Gain 1/gain 2 switching available
3115 hex
Switching Mode in Position Control
Setting range
0 to 10
Unit
Default setting
0
Data attribute
B
Size
2 bytes (INT16)
Access
RW
PDO map
Not possible.
3115
hex
set
value
Description
Gain switching conditions
Gain Switching
Delay Time in
Position Control
(3116 hex)
*1
Gain Switching
Level in Position
Control
(3117 hex)
*2
Gain Switching
Hysteresis in
Position Control
(311
8
hex)
*3
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
*4
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
csp
pp
hm
csv
All
csp
pp