Omron R88M-K User Manual page 415

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 7-38 for the Gain 1/Gain 2 switching.
Explanation of Set Values
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 Command torque value (Refer to
Figure A.)
4 Always Gain 1 (3100 to 3104 hex).
5 Command speed (Refer to Figure B.)
6 Pulse position error (Refer to Figure C.)
7 Whether there is a position command
(Refer to Figure D.)
9 Actual motor speed (Refer to Figure B.)
10 Combination of whether there is a position
command and actual motor speed (Refer
to Figure E.)
*1 The Gain Switching Delay Time in Position Control (3116 hex) becomes effective when the gain is switched
from 2 to 1.
G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Unit
Access
Unit
Access
Gain switching conditions
*3
9 Details on Servo Parameter Objects
−
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
Enabled
Enabled
1 Data attribute
PDO map Not possible.
csp pp
0 Data attribute
PDO map Not possible.
Gain Switching
Gain Switching
Hysteresis in
Position Control
Control
(3117 hex)
(3118 hex)
Disabled Disabled
Disabled Disabled
Disabled Disabled
*4
Enabled Enabled
(%) (%)
Disabled Disabled
Enabled (r/min) Enabled (r/min)
*5
Enabled Enabled
(pulse) (pulse)
Disabled Disabled
Enabled (r/min) Enabled (r/min)
*6
Enabled Enabled
(r/min) (r/min)
All
B
B
*2
*4
9
*5
*6
9-11