Gain Switching 3 Function; Operating Conditions; Objects Requiring Settings; Operation Example - Omron R88D-KN series User Manual

7-10 Gain Switching 3 Function

This function adds a new setting (gain 3) to the gain switching function of the Gain Switching Input
Operating Mode Selection (3114 hex).
The positioning stabilization time can be reduced by keeping the gain immediately before the stop at a
higher level for a certain period of time.

7-10-1 Operating Conditions

You can use the gain 3 switching function in the following situations for position control.
Operating mode
Others

7-10-2 Objects Requiring Settings

Index
3605 hex Gain 3 Effective Time
3606 hex Gain 3 Ratio Setting

7-10-3 Operation Example

When the conventional gain switching function works correctly, set the time to use Gain 3 in the Gain 3
Effective Time (3605 hex).
Set the magnification ratio of Gain 3 to Gain 1 in the Gain 3 Ratio Setting (3606 hex).
Operation Timings of Gain 1, 2 and 3
When the Switching Mode in Position Control (3115 hex) is set to 7 (Position command), the operation
is as shown below:
Position command speed [mm/s]
3105 to 3109 hex
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Position Control Mode
• Servo ON state.
• The factors other than control parameters must be set correctly.
This includes the force limit. The motor must operate normally without any failures.
Name
Set effective time of Gain 3.
Set Gain 3 as a multiple of Gain 1.
3605 hex × 0.1 ms
Gain 2
Gain 3 region
Position loop gain = 3100 × 3606 hex/100
Speed loop gain = 3101 × 3606 hex/100
The Gain 1 values are used for the speed loop integral time constant,
speed feedback filter time constant, and force command filter time constant.
Conditions
Explanation
Gain 3 Gain 1
3100 to 3104 hex
7 Applied Functions
Reference
page 9-43
page 9-43
7-37
7