Omron R88D-KN01H-ECT-L, User Manual

Page: 254 / 626

7 Applied Functions
7 - 28
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
z
Force Control Mode
*1 Set the Level (3126 hex) to greater than or equal to the Hysteresis (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).
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 on page 7-31.
(
3
: Enabled/–: Disabled)
Index Name Description Reference
3124 hex Switching Mode in
Force Control Set the condition for switching between Gain 1 and Gain 2. P. 9-16
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)
P. 9-17
3126 hex Gain Switching Level
in Force 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. 9-17
3127 hex Gain Switching
Hysteresis in Force
Control
*2
Set the hysteresis width to be provided in the judgement
level set in Gain Switching Level in Force Control
(3126 hex).
The unit depends on the setting of the Switching Mode.
P. 9-17
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
Gain Switching
Level in Position
Control (3117 hex)
*2
Gain Switching
Hysteresis in Position
Control (3118 hex)
*3
0 Always Gain 1 (3100 to
3104 hex) – – –
1 Always Gain 2 (3105 to
3109 hex) – – –
2 Gain switching command
input via EtherCAT
communications – – –
3 Force Command
3 3
[%]
3
[%]
4 Always Gain 1 (3100 to
3104 hex) – – –
5 Speed Command
3 3
[mm/s]
3
[mm/s]
6 Following error actual
internal value
3 3
[external encoder
pulse]
3
[external encoder
pulse]
7 Position Command
3
– –