Omron R88M-K Series User Manual page 314

7-8 Gain Switching Function
Gain Switching Mode = 10: Switching by Combination of Whether There Is a
Position Command and Actual Motor Speed
Switching to the gain 2 occurs when a position command is received.
If there is no position command but the absolute value of the actual motor speed remains less
than the difference of the Gain Switching Level in Position Control (3117 hex) minus the Gain
Switching Hysteresis in Position Control (3118 hex) [r/min] for the time specified in the Gain
Switching Delay Time in Position Control (3116 hex), the gain switches to gain 1.
Position command
Gain 1
Note: Whether there is a position command is determined by changes in the Target position (607A hex).
Position Gain Switching Time (3119 Hex)
Torque fluctuations or vibration will occur if the position loop gain is changed too quickly during
7
position control or fully-closed control. To suppress these, set a Position Gain Switching Time
(3119 hex). By setting the Position Gain Switching Time (3119 hex), the gain will be switched
gradually when there is a large change in the position loop gain.
If there is a large difference between Position Loop Gain 1 (3100 hex) and Position Loop Gain
2 (3105 hex), set the Position Gain Switching Time (3119 hex).
When the position loop gain increases, the gain changes in the set time.
Position Loop Gain 1 < Position Loop Gain 2
Gain 2
Gain 1
When the position loop gain is switched to a smaller value (e.g., when switching from gain 2 to
gain 1 in the above figure), Position Gain Switching Time (3119 hex) is ignored and the gain is
switched immediately.
7-29
Actual motor speed
Position Gain Switching Time (ms)
(3119 hex)
Gain 1
Precautions for Correct Use
OMNUC G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
3116 hex
Gain 2
Gain 2
3118 hex
3117
hex
Gain 1
Gain 1
Gain 1