Gain Switching Function; Objects Requiring Settings - Omron R88D-KN series User Manual

7-9

Gain Switching Function

This function switches the position, speed, and force control gains.
Select enable or disable using Gain Switching Input Operating Mode Selection (3114 hex). Set the
switching condition using the gain switching setting.
If the load mass 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.
The function is used when the realtime autotuning does not work effectively, such as:
• Decreasing the gain during servo lock stop to prevent vibration.
• Increasing the gain during stabilization stop to reduce the stabilization time.
• Increasing the gain during movement to improve the command following performance.
• Switching the gain via an external signal depending on the equipment state.
Precautions for Correct Use Precautions for Correct Use
When Gain 2 has been selected, realtime autotuning does not operate normally. If using the gain
switching, set the Realtime Autotuning to "Disabled" (3002 hex = 0).
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Objects Requiring Settings

 Common to All Modes
Index
3002 hex Realtime Autotuning Mode
Selection
3114 hex Gain Switching Input
Operating Mode Selection
 Position Control Mod
Index
3115 hex Switching Mode in Position
Control
3116 hex Gain Switching Delay Time in
Position Control
3117 hex Gain Switching Level in
Position Control
3118 hex Gain Switching Hysteresis in
Position Control
3119 hex Position Gain Switching Time
*1 Set the level set in Gain Switching Level in Position Control (3117 hex) to greater than or equal to the
hysteresis set in Gain Switching Hysteresis in Position Control (3118 hex).
*2 If set to greater than the level set in Gain Switching Level in Position Control (3117 hex), the hysteresis set in
Gain Switching Hysteresis in Position Control (3118 hex) will be automatically adjusted to equal to the level set
in Gain Switching Level in Position Control (3117 hex).
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Name
Set the operation mode for realtime autotuning.
Realtime autotuning cannot be used if the gain
switching function is being used.
Set whether to enable or disable the gain switching
function.
Name
Set the condition for switching between Gain 1 and
Gain 2.
Set the time until the gain is actually switched after
switching from the Gain 2 to Gain 1.
(Unit: 0.1 ms)
Set the judgment level for switching between the Gain
*1 1 and Gain 2.
The unit depends on the setting of the Switching Mode.
Set the hysteresis width to be used for the judgment
*2 level set in Gain Switching Level (3117 hex).
The unit depends on the setting of the Switching Mode.
Set the time to change from one position gain to the
other one. (Unit: 0.1 ms)
7 Applied Functions
Description
Description
Reference
page 9-4
7
page 9-11
Reference
page 9-11
page 9-12
page 9-12
page 9-12
page 9-13
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