Omron R88D-KN01H-ECT-L, Руководство пользователя

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7 Applied Functions
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
7-
10 Gain Switch
ing
3 Fu
nct
ion
7
7-1
0-1 Oper
ating C
onditions
7-10 Gain Switching 3 Function
This function adds a new setting (Gain 3) to the gain switching function of the Gain Switching Input
Operating Mode Selection (3114 hex). It switches the gain right before a stop.
The positioning stabilization time can be reduced by keeping the gain immediately before the stop at a
higher level for a certain period of time.
You can use the Gain Switching 3 function in the following situations for position control.
When the conventional gain switching function works correctly, set the time to use Gain 3 in the Gain 3
Effective Time (3605 hex).
Set the magnification ratio of Gain 3 to Gain 1 in the Gain 3 Ratio Setting (3606 hex).
When the Switching Mode in Position Control (3115 hex) is set to 7 (Position command), the operation
is as shown below:
7-10-1 Operating Conditions
Conditions
Operation mode Position Control Mode
Others • When Servo is ON.
• When elements other than control objects, such as the force limit settings, are set
correctly and there is no trouble with the motor’s normal operation.
7-10-2 Objects Requiring Settings
Index Name Description Reference
3605 hex Gain 3 Effective Time Set effective time of Gain 3. P. 9-47
3606 hex Gain 3 Ratio Setting Set Gain 3 as a multiple of Gain 1. P. 9-47
7-10-3 Operation Example
Operation Timings of Gain 1, 2 and 3
3100 hex to 3104 hex 3105 hex to 3109 hex
3605 hex × 0.1 ms
Gain 2 Gain 3 Gain 1
Position command speed [mm/s]
[Gain 3 region]
Position loop gain = 3100 × 3606 hex/100
Speed loop gain = 3101 × 3606 hex/100
The Gain 1 values are used for the speed loop integral time constant,
speed feedback filter time constant, and force command filter time constant.