Omron R88D-KN01H-ECT-L, Руководство пользователя, Страница: 292 / 626

9 Servo Parameter Objects
9 - 16
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
• Select the conditions for switching between Gain 1 and Gain 2 when the Gain Switching Input
Operating Mode Selection (3114 hex) is set to 1.
Explanation of Settings
(
3
: Enabled/–: Disabled)
*1 The Gain Switching Delay Time in Force Control (3125 hex) becomes effective when the gain is switched from
2 to 1.
*2 Set the Level (3126 hex) to greater than or equal to the Hysteresis (3127 hex).
*3 The Gain Switching Hysteresis in Force Control (3127 hex)
is defined as shown in the diagram to the right.
If set to greater than the Level (3126 hex), the Hysteresis
(3127 hex) will be automatically adjusted to equal to the
Level (3126 hex).
*4 When the Gain switching command of EtherCAT
communications (G-SEL) is 0, the gain switches to Gain 1.
When the command is 1, the gain switches to Gain 2.
For details, refer to 7-9-3 Diagrams of Gain Switching Setting on page 7-31.
Precautions for Correct Use Precautions for Correct Use
The gain is always Gain 1 regardless of the gain input if the Switching Mode in Force Control
(3124 hex) is 2 and the Force Limit Selection (3521 hex) is 3 or 6.
3124 hex
Switching Mode in Force Control
Setting
range
0 to 3
Unit
– Default
setting
0 Data
attribute
B
Size 2 bytes (INT16) Access RW PDO map Not possible
3124 hex
set value Gain switching
conditions
Gain Switching
Delay Time in Force
Control (3125 hex)
*1
Gain Switching
Level in Force
Control (3126 hex)
*2
Gain Switching
Hysteresis in Force
Control (3127 hex)
*3
0 Always Gain 1 (3100 to
3104 hex). – – –
1 Always Gain 2 (3105 to
3109 hex). – – –
2 Gain switching command
input via EtherCAT
communications
*4
– – –
3 Force command
3 3
[%]
3
[%]
cst
3126 hex
0
3127 hex
3125 hex
Gain 1 Gain 2 Gain 1