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7 Applied Functions
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
7
-10 Gain Switc
h
ing
Fu
nction
7
7-1
0-2 Mode
S
e
lection
The
Mode Selection
is used to set the condition to switch between Gain 1 and Gain 2.
When you select Gain 1, control is performed based on
1st Position Control Gain
,
1st Velocity Con-
trol Gain
, and
1st Torque Command Filter
. When you select Gain 2, control is performed based on
2nd Position Control Gain
,
2nd Velocity Control Gain
, and
2nd Torque Command Filter
.
The following is an operation example.
Mode Selection:
Gain Switching in Position Control - Mode Selection
(3212-01 hex) = 0: Gain1
Gain Switching in Velocity Control - Switching Selection
(3222-01 hex) = 1: Gain 2
Switching when Filter Switching in Torque Control - Mode Selection
(3232-01 hex) = 2: Input com-
mand (G-SEL)
If
Mode Selection
is set to
0
,
1st Position Control Gain
(3213 hex),
1st Velocity Control Gain
(3223
hex), and
1st Torque Command Filter
(3233 hex) are used.
If
Mode Selection
is set to
1
,
2st Position Control Gain
(3214 hex),
2st Velocity Control Gain
(3224
hex), and
2st Torque Command Filter
(3234 hex) are used.
If
Mode Selection
is set to
2
, you can switch between Gain 1 and Gain 2 by changing the value of
bit
24: G-SEL
of
Digital outputs - Physical outputs
(60FE-01 hex) via EtherCAT communications.
7-10-2 Mode Selection
When Mode Selection = 0: Always Gain 1 or 1: Always Gain 2
When Mode Selection = 2: Gain switching command input via Ether-
CAT communications
Set
value
Description
0
Gain 1
1
Gain 2
Operation
mode
G-SEL
Position control gain
Velocity control gain
Torque command filter
Position control
Velocity control
Torque control
Gain 1
Gain 2
Gain 1
Gain 2
0
1
G-SEL
Position control gain
Velocity control gain
Torque command filter
Gain 1
Gain 1
Gain 2
0 1
0
Содержание R88D-1SN ECT Series
Страница 544: ...7 Applied Functions 7 52 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...
Страница 560: ...8 Safety Function 8 16 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...
Страница 700: ...10 Operation 10 10 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...
Страница 969: ...AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 I 1 I Index...
Страница 972: ...I 4 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 Appendices...
Страница 973: ......