Omron R88D-KN series User Manual page 269

Force Feed-forward Command Filter
3113 hex
Setting range 0 to 6400
Size 2 bytes (INT16)
• Set the time constant for the first-order lag filter inserted into the feed-forward.
• Setting the filter may improve operation if speed overshooting occurs or the noise during operation is
large when the feed-forward is set high.
Refer to 11-10 Feed-forward Function on page 11-30.
Gain Switching Input Operating Mode Selection
3114 hex
Setting range 0 to 1
Size 2 bytes (INT16)
• Select either PI/P operation switching or Gain 1/Gain 2 switching.
• The PI/P operation switching is performed with the Speed Loop PI/P Control command in EtherCAT
communications.
Refer to 7-10 Gain Switching 3 Function on page 7-37 for the Gain 1/Gain 2 switching.
Explanation of Settings
Set value
0 Gain 1 (PI/P switching enabled)
1 Gain 1/gain 2 switching available
Switching Mode in Position Control
3115 hex
Setting range 0 to 10
Size 2 bytes (INT16)
• Select the conditions for switching between Gain 1 and Gain 2 when the Gain Switching Input
Operating Mode Selection (3114 hex) is set to 1.
Explanation of Settings
3115
hex
set
value
0 Always Gain 1 (3100 to 3104 hex).
1 Always Gain 2 (3105 to 3109 hex).
2 Gain Switching Command Input via
EtherCAT Communications
3 Force Command
4 Always Gain 1 (3100 to 3104 hex).
5 Speed Command
6 Pulse Position Error
7 Position Command
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Unit 0.01 ms
Access
Unit
Access
Unit
Access
Gain switching conditions
*4
9 Servo Parameter Objects
Default setting
RW

Default setting
RW
Description

Default setting
RW
Description
Gain Switching
Delay Time in Level in Position
Position Control
*1
(3116 hex)
Disabled
Disabled
Disabled
Enabled
Disabled
Enabled
Enabled Enabled [external
Enabled
csp
pp hm
csv
0 Data attribute
PDO map Not possible.
1 Data attribute
PDO map Not possible.
csp pp
0 Data attribute
PDO map Not possible.
Gain Switching Gain Switching
Hysteresis in
Control Position Control
*2
(3117 hex) (3118 hex)
Disabled Disabled
Disabled Disabled
Disabled Disabled
Enabled [%] Enabled [%]
Disabled Disabled
Enabled [mm/s] Enabled [mm/s]
Enabled [external
encoder pulses] encoder pulses]
Disabled Disabled
B
All
B
B
9
*3
9-11