9 - 17
9 Servo Parameter Objects
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
9-2 Gain
Setti
ngs
9
•
Set the delay time when returning from Gain 2 to Gain 1 if the Switching Mode in Force Control
(3124 hex) is set to 3.
•
This is enabled when the Switching Mode in Force Control (3124 hex) is set to 3. It sets the
judgement level for switching between Gain 1 and Gain 2.
•
The unit depends on the setting of Switching Mode in Force Control (3124 hex).
•
Set the hysteresis width above and below the judgement level set in the Gain Switching Level in
Force Control (3126 hex).
•
The unit depends on the setting of Switching Mode in Force Control (3124 hex).
•
The Gain Switching Delay Time in Force Control (3125
hex), Gain Switching Level in Force Control (3126 hex),
and Gain Switching Hysteresis in Force Control (3127
hex) are defined as shown in the diagram to the right.
•
The settings for the Gain Switching Level in Force Control (3126 hex) and the Gain Switching
Hysteresis in Force Control (3127 hex) are enabled as absolute values.
3125 hex
Gain Switching Delay Time in Force Control
Setting
range
0 to 10,000
Unit
0.1 ms
Default
setting
0
Data
attribute
B
Size
2 bytes (INT16)
Access
RW
PDO map
Not possible
3126 hex
Gain Switching Level in Force Control
Setting
range
0 to 20,000
Unit
–
Default
setting
0
Data
attribute
B
Size
2 bytes (INT16)
Access
RW
PDO map
Not possible
3127 hex
Gain Switching Hysteresis in Force Control
Setting
range
0 to 20,000
Unit
–
Default
setting
0
Data
attribute
B
Size
2 bytes (INT16)
Access
RW
PDO map
Not possible
cst
cst
cst
3126 hex
0
3127 hex
3125 hex
Gain 1
Gain 2
Gain 1
