Omron R88M-K User Manual page 420

9 Details on Servo Parameter Objects
Speed V
Torque T
Level
Time
1
Command speed S
Gain Switching Delay Time in Speed Control
3121 hex
Setting range 0 to 10000
Size 2 bytes (INT16)
• Set the delay time when returning from gain 2 to gain 1 if the Switching Mode in Speed Control
(3120 hex) is set to 3 to 5.
Gain Switching Level in Speed Control
3122 hex
Setting range 0 to 20000
Size 2 bytes (INT16)
• In Speed Control Mode, this is enabled when the Switching Mode in Speed Control (3120 hex) is set
to 3 to 5. Set the judgment level for switching between gain 1 and gain 2.
• The unit depends on the Switching Mode in Speed Control (3120 hex).
9-16
Figure A
H
L
L
H
2 2 Gain 1 2 2
1 1
Actual speed N
Gain 1 Gain 2
Gain 2 only for the speed loop integral time constant
Gain 1 for all others
Unit 0.1 ms
Access
Unit
Access
G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Speed V
Level
Gain 1 Gain 2
Speed V
Accumulated pulse
Level
1
Gain 1 Gain 2
Time
Default setting
RW
−
Default setting
RW
Figure B
H
L
Time
Gain 1
Figure C
H
L
Time
1
Figure D
H
Level
L
Gain 1
0 Data attribute
PDO map Not possible.
0 Data attribute
PDO map Not possible.
csv
B
csv
B