Omron R88D-KN01L-ECT-L User Manual page 287

Force Feed-forward Command Filter
3113 hex
Setting 0 to 6,400
range
Size 2 bytes (INT16)
• Set the time constant for the first-order lag filter inserted into the feed-forward.
• Setting the filter may improve operation if speed overshooting occurs or the noise during operation is
large when the feed-forward is set high.
For details, refer to 11-10 Feed-forward Function on page 11-32.
Gain Switching Input Operating Mode Selection
3114 hex
Setting 0 to 1
range
Size 2 bytes (INT16)
• Select either PI/P operation switching or Gain 1/Gain 2 switching.
• The PI/P operation switching is performed with the Speed Loop P/PI Control command in EtherCAT
communications.
Refer to 7-9 Gain Switching Function on page 7-26 for the Gain 1/Gain 2 switching.
Explanation of Settings
Set value
0 Gain 1 (PI/P switching enabled)
1 Gain 1/Gain 2 switching available
Switching Mode in Position Control
3115 hex
Setting 0 to 10
range
Size 2 bytes (INT16)
• Select the conditions for switching between Gain 1 and Gain 2 when the Gain Switching Input
Operating Mode Selection (3114 hex) is set to 1.
Explanation of Settings
3115 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 Force command
4 Always Gain 1 (3100 to
3104 hex).
5 Speed command
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
Unit
Unit
Unit
Gain Switching Delay
Gain switching
Time in Position
conditions
Control (3116 hex)
*4
9 Servo Parameter Objects
0.01 ms Default
setting
Access RW
– Default
setting
Access RW
Description
– Default
setting
Access RW
Description
Gain Switching
Level in Position
*1
Control (3117 hex)
–
–
–
–
[mm/s]
csp csv pp hm
0 Data
attribute
PDO map Not possible
1 Data
attribute
PDO map Not possible
csp pp
0 Data
attribute
PDO map Not possible
( : Enabled/–: Disabled)
Gain Switching
Hysteresis in Position
*2
Control (3118 hex)
– –
– –
– –
[%] [%]
– –
[mm/s]
B
A l l
B
B
9
*3
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