Omron R88D-KN series User Manual page 270

9 Servo Parameter Objects
3115
hex
set
value
8 Positioning Not Completed
9 Actual Motor Speed
10 Position Command + Actual Motor Speed
*1 The Gain Switching Delay Time in Position Control (3116 hex) becomes effective when the gain is switched
from 2 to 1.
*2 Set the Level (3117 hex) to greater than or equal to the Hysteresis (3118 hex).
*3 The Gain Switching Hysteresis in Position Control (3118
hex) is defined as shown in the diagram to the right.
If the Hysteresis (3118 hex) is set to greater than the
Level (3117 hex), the Hysteresis (3118 hex) will be
automatically adjusted to equal to the Level (3117 hex).
*4 When the Gain Switching command of EtherCAT
communications is 0, the gain switches to Gain 1.
When the command is 1, the gain switches to Gain 2.
Refer to 7-9-3 Diagrams of Gain Switching Setting on page 7-32 for details on setting.
Gain Switching Delay Time in Position Control
3116 hex
Setting range 0 to 10000
Size 2 bytes (INT16)
• Set the delay time when returning from Gain 2 to Gain 1 if the Switching Mode in Position Control
(3115 hex) is set to 3 or 5 to 10.
Gain Switching Level in Position Control
3117 hex
Setting range 0 to 20000
Size 2 bytes (INT16)
• This object is enabled when the Switching Mode in Position Control (3115 hex) is 3, 5, 6, 9 or 10. It
sets the judgment level for switching between Gain 1 and Gain 2.
• The unit depends on the Switching Mode in Position Control (3115 hex).
Gain Switching Hysteresis in Position Control
3118 hex
Setting range 0 to 20000
Size 2 bytes (INT16)
• Set the hysteresis width above and below the judgment level set in the Gain Switching Level in
Position Control (3117 hex).
• The unit depends on the setting of the Switching Mode in Position Control (3115 hex).
• The Gain Switching Delay Time in Position
Control (3116 hex), Gain Switching Level in
Position Control (3117 hex), and Gain Switching
Hysteresis in Position Control (3118 hex) are
defined as shown in the diagram to the right.
• The settings for the Gain Switching Level in
Position Control (3117 hex) and the Gain Switching Hysteresis in Position Control (3118 hex) are
enabled as absolute values.
9-12
Gain switching conditions
Unit 0.1 ms
Access
Unit
Access
Unit
Access
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Description
Gain Switching
Delay Time in Level in Position
Position Control
*1
(3116 hex)
Enabled
Enabled
Enabled
3117 hex
0
Default setting
RW

Default setting
RW

Default setting
RW
3117h
0
Gain 1
Gain Switching Gain Switching
Hysteresis in
Control Position Control
*2
(3117 hex) (3118 hex)
Disabled Disabled
Enabled [mm/s] Enabled [mm/s]
Enabled [mm/s] Enabled [mm/s]
3118 hex
Gain 1 Gain 2 Gain 1
3116 hex
csp pp hm
50 Data attribute
PDO map Not possible.
csp pp hm
50 Data attribute
PDO map Not possible.
csp pp hm
33 Data attribute
PDO map Not possible.
3118h
Gain 2 Gain 1
3116h
*3
B
B
B