3213 Hex: 1St Position Control Gain - Omron R88M-1M Series User Manual

Subindex 01 hex: Mode Selection
• Selects the method to switch the gain in the position control.
 Description of Set Values
Set
value
0 Always Gain 1
1 Always Gain 2
2 Gain switching command input via EtherCAT communications
3 Actual motor velocity with position command
Subindex 02 hex: Delay Time
• Sets the delay time when the gain returns from Gain 2 to Gain 1 if the Mode Selection is set to 3.
Subindex 03 hex: Speed
• Sets the speed threshold for when Gain 2 switches to Gain 1 if the Mode Selection is set to 3.
Subindex 04 hex: Time
• Sets the time to change the gain from a high value to a low value.
9-4-4

3213 hex: 1st Position Control Gain

Sets the 1st position control gain.
Sub-
Index
index Object name
(hex)
(hex)
3213 --- 1st Position Con-
trol Gain
00 Number of
entries
01 Proportional Gain
E1 Proportional Gain
Command
*1. The first value is for the Servo Drive with its capacity 3kw or less. The second value is for the Servo Drive with its capacity
5kw or more.
Subindex 01 hex: Proportional Gain
• Sets the 1st position proportional gain.
Subindex E1 hex: Proportional Gain Command
• Sets the 1st position proportional gain.
• This object is intended for PDO assignment. Use this object to change the Proportional Gain
(subindex 01 hex) from a PDO.
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User's Manual (I586)
Setting Default
Unit
range setting
--- --- ---
--- --- E1 hex
0 to 5,000 0.1 Hz *1
44/29
0 to 5,000 0.1 Hz *1
44/29
9 Details on Servo Parameters
Description
Data
PDO
attri- Size Access
bute
--- --- ---
--- 1 byte RO
(U8)
A 4 bytes RW
(INT32)
A 4 bytes W RxPDO
(INT32)
Modes of
Complete
opera-
map access
tion
--- Possible ---
--- --- ---
--- --- csp, pp,
hm
--- csp, pp,
hm
9 - 35
9