Omron R88D-KN01H-ECT-L, User Manual

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7 Applied Functions
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
7-9 Gain Switc
h
ing
Fu
nction
7
7-9
-1 Objects Requiring Settings
z
Position Control Mode
*1 Set the Level (3117 hex) to greater than or equal to the Hysteresis (3118 hex).
*2 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).
z
Speed Control Mode
*1 Set the Level (3122 hex) to greater than or equal to the Hysteresis (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).
Index Name Description Reference
3115 hex Switching Mode in
Position Control Set the condition for switching between Gain 1 and Gain 2. P. 9-11
3116 hex Gain Switching Delay
Time in Position
Control Set the time until the gain is actually switched after
switching from the Gain 2 to Gain 1.
(Unit: 0.1 ms)
P. 9-12
3117 hex Gain Switching Level
in Position Control
*1
Set the judgement level for switching between the Gain 1
and Gain 2.
The unit depends on the setting of the Switching Mode.
P. 9-12
3118 hex Gain Switching
Hysteresis in Position
Control
*2
Set the hysteresis width to be used for the judgement level
set in Gain Switching Level (3117 hex).
The unit depends on the setting of the Switching Mode.
P. 9-13
3119 hex Position Gain
Switching Time Set the time to change from one position gain to the other
one. (Unit: 0.1 ms) P. 9-13
Index Name Description Reference
3120 hex Switching Mode in
Speed Control Set the condition for switching between Gain 1 and Gain 2. P. 9-14
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)
P. 9-15
3122 hex Gain Switching Level
in Speed Control
*1
Set the judgement level for switching between the Gain 1
and Gain 2.
The unit depends on the setting of the Switching Mode.
P. 9-15
3123 hex Gain Switching
Hysteresis in Speed
Control
*2
Set the hysteresis width to be used for the judgement level
set in Gain Switching Level (3122 hex).
The unit depends on the setting of the Switching Mode.
P. 9-15