Omron R88D-KN series User Manual page 238

7 Applied Functions
 Position Command
The gain is switched according to whether there is a position command.
 Positioning not completed
The gain is switched according to the presence/absence of a positioning completion signal (INP1).
 Actual motor speed
The gain is switched via the actual motor speed.
 Position command + Actual motor speed
In addition to the presence or absence of a position command, the gain is switched according to the
combination with the actual motor speed.
Speed Control Mode
In the Speed Control Mode, it varies as follows according to Switching Mode in Speed Control
(3120 hex). For operation details, refer to 7-9-3 Diagrams of Gain Switching Setting on page 7-32.
3120
hex set
value
0 Always the Gain 1 (3100 to 3104 hex).
1 Always the Gain 2 (3105 to 3109 hex).
2 Gain switching command input via
EtherCAT communications
3 Force command variation
4 Speed command change amount
5 Speed command
*1 The Gain Switching Delay Time in Speed Control (3121 hex) becomes effective when the gain is switched from
2 to 1.
*2 Set the level set in Gain Switching Level in Speed Control (3122 hex) to greater than or equal to the hysteresis
set in Gain Switching Hysteresis in Speed Control (3123 hex).
*3 If set to greater than the level set in Gain Switching Level in Speed Control (3122 hex), the hysteresis set in
Gain Switching Hysteresis in Speed Control (3123 hex) will be automatically adjusted to equal to the level set
in Gain Switching Level in Speed Control (3122 hex).
 Gain switching command input via EtherCAT communications
The gain is switched instantly when a gain switching command is issued via EtherCAT communications.
 Force command
The gain is switched via a force command.
 Speed command variation
The gain is switched via the speed command variation.
 Speed command
The gain is switched via a speed command.
7-30
Gain switching conditions
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Description
Gain Switching Gain Switching
Delay Time in Level in Speed
Speed Control Control
*1
(3121 hex) (3122 hex)
Disabled Disabled
Disabled Disabled
Disabled Disabled
Enabled Enabled [%]
Enabled Enabled [[10 mm/s]/s] Enabled [[10 mm/s]/s]
Enabled Enabled [mm/s]
Gain Switching
Hysteresis in
Speed Control
*2 *3
(3123 hex)
Disabled
Disabled
Disabled
Enabled [%]
Enabled [mm/s]