Omron R88D-KN01L-ECT-L User Manual page 259

4: Speed command variation
The gain can be switched in the Speed Control Mode.
In the Position Control Mode, however, the gain is always Gain 1 (3100 to 3104 hex).
If the absolute value of the speed command variation exceeds the value of the Gain Switching Level in
Speed Control (3122 hex) plus the Gain Switching Hysteresis in Speed Control (3123 hex) [10 mm/s/s],
the gain switches to Gain 2.
If the absolute value of the speed command variation is less than the value of the Gain Switching Level
in Speed Control (3122 hex) minus the Gain Switching Hysteresis in Speed Control (3123 hex)
[10 mm/s/s] and this condition lasts for the time specified in the Gain Switching Delay Time in Speed
Control (3121 hex), the gain switches back to Gain 1.
Speed command
Hysteresis
Level
Speed command
variation
Gain 1
5: Speed Command
If, in Gain 1, the absolute value of the speed command exceeds the value of the Gain Switching Level
plus the Gain Switching Hysteresis [mm/s], the gain switches to Gain 2.
If, in Gain 2, the absolute value of the speed command is less than the value of the Gain Switching
Level minus the Gain Switching Hysteresis [mm/s] and this condition lasts for the Delay Time, the gain
switches back to Gain 1.
Hysteresis
Level
Gain 1
Note The "speed command" is the Motor Control Effort (401A hex) [mm/s].
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
Hysteresis
Delay time
Gain 2
Speed command or Actual motor speed
Gain 2
7 Applied Functions
Level
Hysteresis
Gain 1 Gain 2
Hysteresis
Delay time
Hysteresis
Delay time
7
Gain 1
Gain 1
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