Omron R88D-KN01L-ECT-L User Manual page 293

Gain Switching Delay Time in Force Control
3125 hex
Setting 0 to 10,000
range
Size 2 bytes (INT16)
• Set the delay time when returning from Gain 2 to Gain 1 if the Switching Mode in Force Control
(3124 hex) is set to 3.
Gain Switching Level in Force Control
3126 hex
Setting 0 to 20,000
range
Size 2 bytes (INT16)
• This is enabled when the Switching Mode in Force Control (3124 hex) is set to 3. It sets the
judgement level for switching between Gain 1 and Gain 2.
• The unit depends on the setting of Switching Mode in Force Control (3124 hex).
Gain Switching Hysteresis in Force Control
3127 hex
Setting 0 to 20,000
range
Size 2 bytes (INT16)
• Set the hysteresis width above and below the judgement level set in the Gain Switching Level in
Force Control (3126 hex).
• The unit depends on the setting of Switching Mode in Force Control (3124 hex).
• The Gain Switching Delay Time in Force Control (3125
hex), Gain Switching Level in Force Control (3126 hex),
and Gain Switching Hysteresis in Force Control (3127
hex) are defined as shown in the diagram to the right.
• The settings for the Gain Switching Level in Force Control (3126 hex) and the Gain Switching
Hysteresis in Force Control (3127 hex) are enabled as absolute values.
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
0.1 ms
Unit
Access
–
Unit
Access
–
Unit
Access
9 Servo Parameter Objects
Default 0
setting
RW PDO map
Default 0
setting
RW PDO map
Default 0
setting
RW PDO map
3126 hex
0
Gain 1 Gain 2
cst
Data B
attribute
Not possible
cst
Data B
attribute
Not possible
cst
Data B
attribute
Not possible
3127 hex
Gain 1
3125 hex
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