Omron R88M-K User Manual page 416

9 Details on Servo Parameter Objects
*2 The Gain Switching Hysteresis in Position Control (3118 hex) is defined in the drawing below.
3117 hex
0
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.
*3 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.
*4 Set the percentage of the rated torque.
Example: To set 10% of the rated torque, set the set value would be 10.
*5 The position error is set according to the encoder resolution (i.e., pulses) for position control and according to
the external encoder resolution (i.e., pulses) for fully-closed control.
*6 When the set value is 10, meanings of the Gain Switching Delay Time in Position Control, the Gain Switching
Level in Position Control, and the Gain Switching Hysteresis in Position Control differ from the normal case.
(Refer to Figure E.)
Speed V
Command torque
Level
Time
1
Speed V
Level
Gain 1
Position command values
9-12
Gain 1 Gain 2
Figure A
H
L
L
H
Time
2 Gain 1 2
Figure B
H
L
Time
Gain 1
Gain 2
Motor speed
Gain 1
G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
3118 hex
Gain 1
3116 hex
Speed V
Pulse position error
Level
Gain 1 Gain 2
1
Position
command
values
Gain 1 Gain 2
Time
Gain 2
Figure C
H
L
Time
1
Figure D
Time
1
Figure E
H
Level
L
Gain 1