Gain Switching - Omron OMNUC G5 Series User Manual

7-8 Gain Switching Function

Gain Switching

Refer to Chapter 9 Details on Servo Parameter Objects for details on gain-related objects.
Position Control Mode and Fully-closed Control Mode
In the Position Control mode and Fully-closed Control Mode, operation varies as follows
according to switching mode in Position Control (3115 hex).
value of
3115
hex
7
*1. The Gain Switching Delay Time in Position Control (3116 hex) becomes effective when the gain is
*2. The Gain Switching Hysteresis in Position Control (3118 hex) is defined in the drawing below.
*3. When the Gain Switching command of EtherCAT communications (G-SEL) is 0, the gain switches to
*4. Set the percentage of the rated torque.
*5. The position error is set according to the encoder resolution (i.e., pulses) for position control and
7-25
Set
Gain switching conditions
0 Always Gain 1 (3100 to 3104 hex).
1 Always Gain 2 (3105 to 3109 hex).
Gain switching command input via
2
EtherCAT communications
Command torque value (Refer to
3
Figure A.)
4 Always Gain 1 (3100h to 3104 hex).
Command speed (Refer to Figure B)
5
Pulse position error
6
(Refer to Figure C.)
Whether there is a position
7
command (Refer to Figure D.)
Actual motor speed
9
(Refer to Figure B).
Combination of whether there is a
10 position command and actual motor
speed (Refer to Figure E.)
switched from 2 to 1.
3117 hex
0
Gain 1
If object 3117 hex is less than object 3118 hex, object 3117 hex will automatically be set to the same
value as object 3118 hex.
gain 1. When the command is 1, the gain switches to gain 2.
Example: To set 10% of the rated torque, set the set value would be 10.
according to the external encoder resolution (i.e., pulses) for fully-closed control.
OMNUC G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Description
Gain Switching
Delay Time in
Position Control
*1
(3116 hex)
Disabled
Disabled
Disabled
*3
Enabled
Disabled
Enabled
Enabled
Enabled
Enabled
Enabled
3118 hex
Gain 2 Gain 1
3116 hex
Gain Switching Gain Switching
Level in Position Hysteresis in
Control (3117 Position Control
hex) (3118 hex)
Disabled Disabled
Disabled Disabled
Disabled Disabled
*4
Enabled Enabled
(%) (%)
Disabled Disabled
Enabled
Enabled
(r/min)
(r/min)
*5
Enabled Enabled
(pulses) (pulses)
Disabled Disabled
Enabled
Enabled
(r/min)
min)
*6
Enabled Enabled
(r/min) (r/min)
*2
* 4
* 5
(r/
* 6