Omron R88D-KN01L-ECT-L User Manual page 290

9 Servo Parameter Objects
Switching Mode in Speed Control
3120 hex
Setting 0 to 5
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
3120 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 Speed command variation
5 Speed command
*1 The Gain Switching Delay Time in Speed Control (3121 hex) becomes effective when the gain is switched from
2 to 1.
*2 Set the Level (3122 hex) to greater than or equal to the Hysteresis (3123 hex).
*3 The Gain Switching Hysteresis in Position Control (3123
hex) is defined as shown in the diagram to the right.
If set to greater than the Level (3122 hex), the Hysteresis
(3123 hex) will be automatically adjusted to equal to the
Level (3122 hex).
*4 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.
Refer to 7-9-3 Diagrams of Gain Switching Setting on page 7-31 for details on setting.
Precautions for Correct Use Precautions for Correct Use
The gain is always Gain 1 regardless of the gain input if the Switching Mode in Speed Control
(3120 hex) is 2 and the Force Limit Selection (3521 hex) is 3 or 6.
9 - 14
Unit
Gain Switching
Gain switching
Delay Time in Speed
conditions
Control (3121 hex) *1
*4
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
– Default
setting
Access RW
Gain Switching
Level in Speed
Control (3122 hex)
–
–
–
[[10 mm/s]/s]
[mm/s]
3122 hex
0
0 Data
attribute
PDO map Not possible
( : Enabled/–: Disabled)
Gain Switching
Hysteresis in Speed
*2
Control (3123 hex)
– –
– –
– –
[%] [%]
[[10 mm/s]/s]
[mm/s]
Gain 1 Gain 2
csv
B
*3
3123 hex
Gain 1
3121 hex