Omron R88D-KN series User Manual page 273

Gain Switching Level in Speed Control
3122 hex
Setting range 0 to 20000
Size 2 bytes (INT16)
• In Speed Control Mode, this is enabled when the Switching Mode in Speed Control (3120 hex) is set
to 3 to 5. Set the judgment level for switching between Gain 1 and Gain 2.
• The unit depends on the Switching Mode in Speed Control (3120 hex).
Gain Switching Hysteresis in Speed Control
3123 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 Speed
Control (3122 hex).
• The unit depends on the setting of the Switching Mode in Speed Control (3120 hex).
• The Gain Switching Delay Time in Speed
Control (3121 hex), Gain Switching Level in
Speed Control (3122 hex), and Gain Switching
Hysteresis in Speed Control (3123 hex) are
defined as shown in the diagram to the right.
• The settings for the Gain Switching Level in
Speed Control (3122 hex) and the Gain
Switching Hysteresis in Speed Control (3123 hex) are enabled as absolute values.
Switching Mode in Force Control
3124 hex
Setting range 0 to 3
Size 2 bytes (INT16)
• Select the switching condition between Gain 1 and Gain 2 when the Gain Switching Input Operating
Mode Selection (3114 hex) is set to 1.
Explanation of Settings
3124
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
*1 The Gain Switching Delay Time in Force Control (3125 hex) becomes effective when the gain is switched from
2 to 1.
*2 Set the Level (3126 hex) to greater than or equal to the Hysteresis (3127 hex).
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Unit
Access
Unit
Access
Unit
Access
Gain switching conditions
*4
9 Servo Parameter Objects

Default setting
RW

Default setting
RW
3122 hex
0
Gain 1

Default setting
RW
Description
Gain Switching
Delay Time in
Force Control
*1
(3125 hex)
Disabled
Disabled
Disabled
Enabled
0 Data attribute
PDO map Not possible.
0 Data attribute
PDO map Not possible.
3123 hex
Gain 2 Gain 1
3121 hex
0 Data attribute
PDO map Not possible.
Gain Switching Gain Switching
Level in Force Hysteresis in
Control Force Control
*2
(3126 hex) (3127 hex)
Disabled Disabled
Disabled Disabled
Disabled Disabled
Enabled [%] Enabled [%]
csv
B
csv
B
cst
B
9
*3
9-15