Omron R88D-KN series User Manual page 274

9 Servo Parameter Objects
*3 The Gain Switching Hysteresis in Force Control
(3127 hex) is defined as shown in the diagram to
the right.
If set to greater than the Level (3126 hex), the
Hysteresis (3127 hex) will be automatically
adjusted to equal to the Level (3126 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.
Precautions for Correct Use Precautions for Correct Use
The gain is always Gain 1 regardless of the gain input if the Switching Mode in Force Control
(3124 hex) is 2 and the Force Limit Selection (3521 hex) is 3 or 6.
Gain Switching Delay Time in Force Control
3125 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 Force Control
(3124 hex) is set to 3.
Gain Switching Level in Force Control
3126 hex
Setting range 0 to 20000
Size 2 bytes (INT16)
• This is enabled when the Switching Mode in Force Control (3124 hex) is set to 3. It sets the judgment
level for switching between Gain 1 and Gain 2.
• The unit depends on the setting of Switching Mode in Force Control (3124 hex).
Gain Switching Hysteresis in Force Control
3127 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 Force
Control (3126 hex).
• The unit depends on the setting of Switching Mode in Force Control (3124 hex).
• The Gain Switching Delay Time in Force
Control (3125 hex), Gain Switching Level in
Force Control (3126 hex), and Gain Switching
Hysteresis in Force Control (3127 hex) are
defined as shown in the diagram to the right.
• The settings for the Gain Switching Level in
Force Control (3126 hex) and the Gain
Switching Hysteresis in Force Control (3127
hex) are enabled as absolute values.
9-16
Unit 0.1 ms Default setting
Access

Unit Default setting
Access

Unit Default setting
Access
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
3126 hex
0
Gain 1
0
RW PDO map
0
RW PDO map
0
RW PDO map
3126 hex
0
Gain 1
3127 hex
Gain 2 Gain 1
3125 hex
cst
Data attribute B
Not possible.
cst
Data attribute B
Not possible.
cst
Data attribute B
Not possible.
3127 hex
Gain 2 Gain 1
3125 hex