Omron R88D-KN01L-ECT-L User Manual page 261

8: Positioning Not Completed
If the position command is not completed, the gain switches to Gain 2.
If the position command is completed and this condition lasts for the Delay Time, the gain switches back
to Gain 1.
Positioning completion
Positioning not completed
9: Actual Motor Speed
If the absolute value of the actual motor speed exceeds the value of the Gain Switching Level plus the
Gain Switching Hysteresis [mm/s], the gain switches to Gain 2.
If the absolute value of the actual motor speed 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
Position command
Actual motor speed
Gain 1
Speed command or Actual motor speed
Gain 2
Delay time
Gain 2
7 Applied Functions
Delay time
Gain 1
Hysteresis
Gain 1
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