Omron R88D-KN series User Manual page 242

7 Applied Functions
6: Pulse Position Error
If the absolute value of the pulse position error exceeds the value of the Gain Switching Level plus the
Gain Switching Hysteresis [pulses], the gain switches to Gain 2.
If the absolute value of the position error is less than the value of the Gain Switching Level minus the
Gain Switching Hysteresis [pulses] and this condition lasts for the Delay Time, the gain switches back to
Gain 1.
Hysteresis
Level
Gain 1
Set the Level and the Hysteresis unit [pulses] according to the external encoder resolution.
7: Position Command
If the position command value is not 0, the gain switches to Gain 2.
If the position command value is 0 and this condition lasts for the Delay Time, the gain switches back to
Gain 1.
Position command
Gain 1
Note The "position command" is the Target Position (607A hex).
7-34
Pulse position error
Gain 2
Gain 2
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Hysteresis
Delay time
Gain 1
Delay time
Gain 1