Omron R88D-KN series User Manual

7-31
7 Applied Functions
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
7-9 Gain Switching Function
7
7-9-2 Gain Switching Based on the Control Mode
In the Force Control Mode, it varies as follows according to the Switching Mode in Force Control
(3124 hex).
For operation details, refer to 7-9-3 Diagrams of Gain Switching Setting on page 7-32.
 Gain switching command input via EtherCAT communications
The gain is switched instantly when a gain switching command is issued via EtherCAT
communications.
 Force command
The gain is switched via a force command.
Force Control Mode
3124
hex set
value
Description
Gain switching conditions
Gain Switching
Delay Time in
Force Control
(3125 hex)
*1
*1 The Gain Switching Delay Time in Force Control (3125 hex) becomes effective when the gain is switched from
2 to 1.
Gain Switching
Level in Force
Control
(3126 hex)
*2
*2 Set the level set in Gain Switching Level in Force Control (3126 hex) to greater than or equal to the hysteresis
set in Gain Switching Hysteresis in Force Control (3127 hex).
Gain Switching
Hysteresis in
Force Control
(3127 hex)
*3
*3 If set to greater than the level set in Gain Switching Level in Force Control (3126 hex), the hysteresis set in
Gain Switching Hysteresis in Force Control (3127 hex) will be automatically adjusted to equal to the level set in
Gain Switching Level in Force Control (3126hex).
0 Always Gain 1 (3100 to 3104 hex). Disabled Disabled Disabled
1 Always Gain 2 (3105 to 3109 hex). Disabled Disabled Disabled
2 Gain switching command input via
EtherCAT communications
Disabled Disabled Disabled
3 Force command Enabled Enabled [%] Enabled [%]

Omron R88D-KN series Specifications

General

Brand	Omron
Model	R88D-KN series
Category	Controller
Language	English