Omron R88M-K User Manual page 421

Gain Switching Hysteresis in Speed Control
3123 hex
Setting range 0 to 20000
Size 2 bytes (INT16)
• Set the hysteresis width above and below the judgment level set in the Gain Switching Level in Speed
Control (3122 hex).
• The unit depends on the setting of the Switching Mode in Speed Control (3120 hex).
• The following shows the definitions for the Gain Switching Delay Time in Speed Control (3121 hex),
Gain Switching Level in Speed Control (3122 hex), and Gain Switching Hysteresis in Speed Control
(3123 hex).
3122 hex
0
• The settings for the Gain Switching Level in Speed Control (3122 hex) and the Gain Switching
Hysteresis in Speed Control (3123 hex) are enabled absolute values (positive/negative).
Switching Mode in Torque Control
3124 hex
Setting range 0 to 3
Size 2 bytes (INT16)
• Select the switching condition between gain 1 and gain 2 when the Gain Switching Input Operating
Mode Selection (3114 hex) is set to 1.
• The gain is always gain 1 regardless of the gain input if the Switching Mode in Torque Control
(3124 hex) is 2 and the Torque Limit Selection (3521 hex) is 3 or 6.
Explanation of Settings
3124
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 Torque command variation
(Refer to Figure A.)
*1 The Gain Switching Delay Time in Toque Control (3125 hex) becomes effective when the gain is switched from
2 to 1.
*2 The Gain Switching Hysteresis in Torque Control (3127 hex) is defined in the drawing below.
3126 hex
0
G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Unit
Access
3123 hex
Gain 1 Gain 2
3121 hex
Unit
Access
Gain switching conditions
*3
Gain 1 Gain 2
9 Details on Servo Parameter Objects
−
Default setting
RW
Gain 1
−
Default setting
RW
Description
Gain Switching
Delay Time in
Torque Control
*1
(3125 hex)
Disabled
Disabled
Disabled
Enabled
3127 hex
Gain 1
3125 hex
0 Data attribute
PDO map Not possible.
0 Data attribute
PDO map Not possible.
Gain Switching
Gain Switching
Hysteresis in
Level in Torque
Torque Control
Control
(3126 hex)
(3127 hex)
Disabled Disabled
Disabled Disabled
Disabled Disabled
*4
Enabled Enabled
(0.05%) (0.05%)
csv
B
cst
B
9
*2
*4
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