Gain Switching 3 Function; Operating Conditions; Objects Requiring Settings; Operation Example - Omron R88M-K User Manual

7 Applied Functions

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 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 or fully-closed
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 Gain 3
Effective Time (3605 hex), and the magnification of Gain 3 against 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, i.e., when the command pulses are
received as the switching condition, the operation will be as shown below:
Position command speed [r/min]
3105 to 3109 hex
7-38
Position Control Mode or Fully-closed Control Mode
• Servo ON state.
• The factors other than control parameters must be set correctly.
This includes the torque 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 torque command filter time constant.
G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Conditions
Explanation
Gain 3 Gain 1
3100 to 3104 hex
Reference
page 9-47
page 9-47