Omron R88L-EC Series User Manual page 296

9 Servo Parameter Objects
Switching Mode in Force Control
3124 hex
Setting 0 to 3
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
3124 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
*1 The Gain Switching Delay Time in Force Control (3125 hex) becomes effective when the gain is switched from
2 to 1.
*2 Set the Level (3126 hex) to greater than or equal to the Hysteresis (3127 hex).
*3 The Gain Switching Hysteresis in Force Control (3127 hex) is
defined as shown in the diagram to the right.
If set to greater than the Level (3126 hex), the Hysteresis
(3127 hex) will be automatically adjusted to equal to the
Level (3126 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.
For details, refer to 7-9-3 Diagrams of Gain Switching Setting on page 7-31.
Precautions for Correct Use Precautions for Correct Use
The gain is always Gain 1 regardless of the gain input if the Switching Mode in Force Control
(3124 hex) is 2 and the Force Limit Selection (3521 hex) is 3 or 6.
9 - 16
Unit
Gain Switching
Gain switching
Delay Time in Force
conditions
Control (3125 hex)
*4
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
– Default
setting
Access RW
Gain Switching
Level in Force
*1
Control (3126 hex)
–
–
–
  [%]
3126 hex
0
0 Data
attribute
PDO map Not possible
(: Enabled/–: Disabled)
Gain Switching
Hysteresis in Force
*2
Control (3127 hex)
– –
– –
– –
 [%]
3127 hex
Gain 1 Gain 2 Gain 1
3125 hex
cst
B
*3