Omron R88D-KN series, Руководство пользователя

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9 Servo Parameter Objects
9-12
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
*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.
Refer to 7-9-3 Diagrams of Gain Switching Setting on page 7-32 for details on setting.
• 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 judgment level for switching between Gain 1 and Gain 2.
• The unit depends on the Switching Mode in Position Control (3115 hex).
• Set the hysteresis width above and below the judgment level set in the Gain Switching Level in
Position Control (3117 hex).
• The unit depends on the setting of the Switching Mode in Position Control (3115 hex).
• The Gain Switching Delay Time in Position
Control (3116 hex), Gain Switching Level in
Position Control (3117 hex), and Gain Switching
Hysteresis in Position Control (3118 hex) are
defined as shown in the diagram to the right.
• The settings for the Gain Switching Level in
Position Control (3117 hex) and the Gain Switching Hysteresis in Position Control (3118 hex) are
enabled as absolute values.
8 Positioning Not Completed Enabled Disabled Disabled
9 Actual Motor Speed Enabled Enabled [mm/s] Enabled [mm/s]
10 Position C Actual Motor Speed Enabled Enabled [mm/s] Enabled [mm/s]
3116 hex
Gain Switching Delay Time in Position Control
Setting range 0 to 10000 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 20000 Unit

Default setting 50 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.
311 8 hex
Gain Switching Hysteresis in Position Control
Setting range 0 to 20000 Unit

Default setting 33 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
(311 8 hex)
*3
3117 hex
0
3118 hex
3116 hex
Gain 1 Gain 2 Gain 1
csp
pp
hm
csp
pp
hm
csp
pp
hm
3117h
0
3118h
3116h
Gain 1 Gain 2 Gain 1