Omron R88D-KN01L-ECT-L User Manual page 258

7 Applied Functions
2: Gain Switching Command Input via EtherCAT Communications
When the Gain Switching command of EtherCAT communications (G-SEL) is 0, the gain switches to
Gain 1. When the command is 1, the gain switches to Gain 2.
Instant switching occurs when a gain switching command is issued from the network.
Position
command
GSEL
Gain 1
3: Force Command
If the absolute value of the force command exceeds the value of the Gain Switching Level plus the Gain
Switching Hysteresis [%], the gain switches to Gain 2.
If the absolute value of the force command is less than the value of the Gain Switching Level minus the
Gain Switching Hysteresis [%] and this condition lasts for the time specified in the Gain Switching Delay
Time, the gain switches back to Gain 1.
Speed command
Hysteresis
Level
Force
command
Gain 1
7 - 32
Gain switching instruction
Gain 2
Hysteresis
Delay time
Gain 2
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
Level
Hysteresis
Gain 1 Gain 2
Gain 1
Hysteresis
Delay time
Gain 1