Omron R88D-1SN01H-ECT, Руководство пользователя

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7 Applied Functions
7 - 34 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
7-10 Gain Switching Function
This function switches the position control gain, velocity control gain, and torque command filter.
If the load inertia changes or you want to change the responsiveness depending on whether the motor
is stopping or operating, you can perform optimal control by using gain switching.
7-10-1 Objects Requiring Settings
Index
(hex)
Subindex
(hex)
Name Description
Refer-
ence
3212 --- Gain Switching in Position
Control Sets the gain switching method in the position
control. P. 9-33
01 Mode Selection Selects the condition to switch between Gain
1 and Gain 2.
0: Always Gain 1
1: Always Gain 2
2: Gain switching command input via Ether-
CAT communications
3: Actual motor velocity with position com-
mand P. 9-34
02 Delay Time Sets the delay time when the gain returns
from Gain 2 to Gain 1 when the Mode Selec-
tion is set to
3 .
P. 9-34
03 Speed Sets the speed threshold when Gain 2
switches to Gain 1. This object is enabled
when the Mode Selection is set to
3 .
P. 9-34
04 Time Sets the time to switch the gain completely
when the gain is switched from low to high in
stages. P. 9-34
3213
---
1st Position Control Gain Sets the 1st position control gain. P. 9-34
01 Proportional Gain Sets the proportional gain. P. 9-34
3214
---
2nd Position Control Gain Sets the 2nd position control gain. P. 9-35
01 Proportional Gain Sets the proportional gain. P. 9-35
3222
---
Gain Switching in Velocity
Control Sets the gain switching method in the velocity
control. P. 9-37
01 Mode Selection Selects the condition to switch between Gain
1 and Gain 2.
0: Always Gain 1
1: Always Gain 2
2: Gain switching command input via Ether-
CAT communications P. 9-37
3223 --- 1st Velocity Control Gain Sets the 1st velocity control gain. P. 9-37
01 Proportional Gain Sets the proportional gain. P. 9-37
02 Integral Gain Sets the velocity integral gain. P. 9-37
3224
---
2nd Velocity Control Gain Sets the 2nd velocity control gain. P. 9-38
01 Proportional Gain Sets the proportional gain. P. 9-38
02 Integral Gain Sets the velocity integral gain. P. 9-38