7 - 31
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
-3 Diagr
ams of
Gain Switching Setting
In the Force Control Mode, it varies as follows according to the Switching Mode in Force Control
(3124 hex).
For operation details, refer to 7-9-3 Diagrams of Gain Switching Setting on page 7-31.
(
3
: Enabled/–: Disabled)
*1
The Gain Switching Delay Time in Force Control (3125 hex) becomes effective when the gain is switched from
2 to 1.
*2
Set the Level (3126 hex) to greater than or equal to the Hysteresis (3127 hex).
*3
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).
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.
This section describes the timing in which switching between Gain 1 (3100 to 3104 hex) and Gain 2
(3105 to 3109 hex) occurs.
Switching between Gain 1 (3100 to 3104 hex) and Gain 2 (3105 to 3109 hex) occurs at the following
timing, depending on the set value of the Switching Mode in Position Control (3115 hex), Switching
Mode in Speed Control (3120 hex), or Switching Mode in Force Control (3124 hex).
For the position loop gain, however, switching occurs based on the Position Gain Switching Time
(3119 hex) setting.
Force Control Mode
3124 hex
set value
Gain switching
conditions
Gain Switching
Delay Time in Force
Control (3125 hex)
*1
Gain Switching
Level in Force
Control (3126 hex)
*2
Gain Switching
Hysteresis in Force
Control (3127 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
“Enabled”
3
3
[%]
3
[%]
7-9-3
Diagrams of Gain Switching Setting
