Omron R88D-1SN01H-ECT, Руководство пользователя

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7 Applied Functions
7 - 36 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
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