Omron R88M-K User Manual page 418

9 Details on Servo Parameter Objects
Position Gain Switching Time
3119 hex
Setting range 0 to 10000
Size 2 bytes (INT16)
• Torque fluctuations or vibration will occur if the position loop gain is changed too quickly during
position control or fully-closed control. To suppress these, set a Position Gain Switching Time
(3119 hex).
• By setting the Position Gain Switching Time (3119 hex), the gain will be switched gradually when
there is a large change in the position loop gain.
• If there is a large difference between Position Loop Gain 1 (3100 hex) and Position Loop Gain 2
(3105 hex), set the Position Gain Switching Time (3119 hex).
• When the position loop gain 1 increases, the gain changes in the set time.
Position Loop Gain 1 < Position Loop Gain 2
Position
Loop Gain 2
Position
Loop Gain 1
Precautions for Correct Use Precautions for Correct Use
When the position loop gain is switched to a smaller value (e.g., when switching from gain 2 to
gain 1 in the above figure), Position Gain Switching Time (3119 hex) is ignored and the gain is
switched immediately.
9-14
Unit 0.1 ms
Access
Position Gain
Switching Time (3119 hex)
Position Position
Loop Gain 1 Loop Gain 2
G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Default setting 33
RW PDO map
Position
Loop Gain 1
csp pp hm
Data attribute B
Not possible.