Omron R88D-KN01H-ECT-L, User Manual

Page: 288 / 626

9 Servo Parameter Objects
9 - 12
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
*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 The Gain Switching Hysteresis in Position Control (3118
hex) is defined as shown in the diagram to the right.
If the Hysteresis (3118 hex) is set to greater than the Level
(3117 hex), the Hysteresis (3118 hex) will be automatically
adjusted to equal to the Level (3117 hex).
*4 When the Gain Switching command of EtherCAT
communications is 0, the gain switches to Gain 1. When the
command is 1, the gain switches to Gain 2.
For details, refer to 7-9-3 Diagrams of Gain Switching Setting on page 7-31.
• Set the delay time when returning from Gain 2 to Gain 1 if the Switching Mode in Position Control
(3115 hex) is set to 3 or 5 to 10.
• This object is enabled when the Switching Mode in Position Control (3115 hex) is 3, 5, 6, 9 or 10. It
sets the judgement level for switching between Gain 1 and Gain 2.
• The unit depends on the setting of the Switching Mode in Position Control (3115 hex).
6 Pulse position error
3 3
[external encoder
pulse]
3
[external encoder
pulse]
7 Position command
3
– –
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]
3116 hex
Gain Switching Delay Time in Position Control
Setting
range
0 to 10,000
Unit
0.1 ms Default
setting
50 Data
attribute
B
Size 2 bytes (INT16) Access RW PDO map Not possible
3117 hex
Gain Switching Level in Position Control
Setting
range
0 to 20,000
Unit
– Default
setting
50 Data
attribute
B
Size 2 bytes (INT16) Access RW PDO map Not possible
3115 hex
set value
Description
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
3117 hex
0
3118 hex
3116 hex
Gain 1 Gain 2 Gain 1
csp pp hm
csp
pp
hm