Gain Switching Function - Omron R88D-KN01L-ECT-L User Manual

7 Applied Functions
7-9

Gain Switching Function

This function switches the position, speed, and force control gains.
Select enable or disable using Gain Switching Input Operating Mode Selection (3114 hex). Set the
switching condition using the gain switching setting.
If the load mass changes or you want to change the responsiveness depending on whether the motor is
stopping or operating, you can perform optimal control by using gain switching.
The function is used when the realtime autotuning does not work effectively, such as:
• When decreasing the gain during servo lock stop to prevent vibration.
• When increasing the gain during stabilization stop to reduce the stabilization time.
• When increasing the gain during movement to improve the command following performance.
• When switching the gain via an external signal depending on the equipment state.
Precautions for Correct Use Precautions for Correct Use
When Gain 2 has been selected, realtime autotuning does not operate normally.
If using the gain switching, set the Realtime Autotuning to "Disabled" (3002 hex = 0).
7-9-1 Objects Requiring Settings
Common to All Modes
Index
3002 hex Realtime Autotuning
Mode Selection
3114 hex Gain Switching Input
Operating Mode
Selection
7 - 26
Name
Set the operating mode for realtime autotuning.
Realtime autotuning cannot be used if the gain
switching function is being used.
Set whether to enable or disable the gain switching
function.
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
Description Reference
P. 9-4
P. 9-11