Position Gain Switching Time (3119 Hex) - Omron R88D-KN series User Manual

7 Applied Functions
10: Position Command + Actual Motor Speed
If there is a position command in Gain 1, the gain switches to Gain 2.
If a condition where there is no position command lasts for the Gain Switching Delay Time in Position
Control (3116 hex) and the absolute value of the actual motor speed is less than the value of the Gain
Switching Level in Position Control (3117 hex) minus the Gain Switching Hysteresis in Position Control
(3118 hex) [mm/s], the gain switches back to Gain 1.
Position command
Gain 1
Note The "position command" is the Target Position (607A hex).
7-9-4

Position Gain Switching Time (3119 Hex)

Torque fluctuations or vibration will occur if the position loop gain is changed too quickly during position
control.
To suppress these, set a Position Gain Switching Time (3119 hex).
By setting the Position Gain Switching Time (3119 hex), the gain will be switched gradually when there
is a large change in the position loop gain.
If there is a large difference between Position Loop Gain 1 (3100 hex) and Position Loop Gain 2 (3105
hex), set the Position Gain Switching Time (3119 hex).
When the position loop gain increases, the gain changes in the set time.
Position Loop Gain 1 < Position Loop Gain 2
Gain 2
Gain 1
Gain 1
Precautions for Correct Use Precautions for Correct Use
When the position loop gain is switched to a smaller value, Position Gain Switching Time (3119
hex) is ignored and the gain is switched immediately.
In the above figure, this operation occurs when switching from Gain 2 to Gain 1.
7-36
Actual motor speed
Gain 2
Position Gain Switching Time (ms)
(3119 hex)
Gain 2
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
3118 hex
3116 hex
Gain 1
Gain 1
Gain 1
3117 hex