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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
-2 Gain Switching Based on the C
ontrol Mode
*1
The Gain Switching Delay Time in Position Control (3116 hex) becomes effective when the gain is switched
from 2 to 1.
*2
Set the Level (3117 hex) to greater than or equal to the Hysteresis (3118 hex).
*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).
z
Gain switching command input via EtherCAT communications
The gain is switched instantly when a gain switching command is issued via EtherCAT
communications.
z
Force command
The gain is switched via a force command.
z
Speed command
The gain is switched via a speed command.
z
Following error actual value
The gain is switched via the pulse position error in external encoder units.
z
Position command
The gain is switched according to whether there is a position command.
z
Positioning not completed
The gain is switched according to the presence/absence of a positioning completion signal (INP1).
z
Actual motor speed
The gain is switched via the actual motor speed.
z
Position c Actual motor speed
In addition to the presence or absence of a position command, the gain is switched according to the
combination with the actual motor speed.
8
Positioning not completed
3
–
–
9
Actual Motor Speed
3
3
[mm/s]
3
[mm/s]
10
Position c
Actual motor speed
3
3
[mm/s]
3
[mm/s]
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
