Omron R88D-KN series User Manual

9 Servo Parameter Objects
9-14
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
• 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
*1 The Gain Switching Delay Time in Speed Control (3121 hex) becomes effective when the gain is switched from
2 to 1.
*2 Set the Level (3122 hex) to greater than or equal to the Hysteresis (3123 hex).
*3 The Gain Switching Hysteresis in Speed Control
(3123 hex) is defined as shown in the diagram to
the right.
If set to greater than the Level (3122 hex), the
Hysteresis (3123 hex) will be automatically
adjusted to equal to the Level (3122 hex).
*4 When the Gain switching command of EtherCAT
communications is 0, the gain switches to Gain 1.
When the command is 1, the gain switches to Gain 2.
Refer to 7-9-3 Diagrams of Gain Switching Setting on page 7-32 for details on setting.
Precautions for Correct UsePrecautions for Correct Use
The gain is always Gain 1 regardless of the gain input if the Switching Mode in Speed Control
(3120 hex) is 2 and the Force Limit Selection (3521 hex) is 3 or 6.
• Set the delay time when returning from Gain 2 to Gain 1 if the Switching Mode in Speed Control
(3120 hex) is set to 3 to 5.
3120 hex
Switching Mode in Speed Control
Setting range 0 to 5 Unit  Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.
3120
hex
set
value
Description
Gain switching conditions
Gain Switching
Delay Time in
Speed Control
(3121 hex)
*1
Gain Switching
Level in Speed
Control
(3122 hex)
*2
Gain Switching
Hysteresis in
Speed Control
(3123 hex)
*3
0 Always the Gain 1 (3100 to 3104 hex). Disabled Disabled Disabled
1 Always the Gain 2 (3105 to 3109 hex). Disabled Disabled Disabled
2 Gain switching command input via
EtherCAT communications
*3
Disabled Disabled Disabled
3 Force command Enabled Enabled [%] Enabled [%]
4 Speed command variation Enabled Enabled
[[10 mm/s]/s]
Enabled
[[10 mm/s]/s]
5 Speed command Enabled Enabled [mm/s] Enabled [mm/s]
3121 hex
Gain Switching Delay Time in Speed Control
Setting range 0 to 10000 Unit 0.1 ms Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.
csv
3122 hex
0
3123 hex
3121 hex
Gain 1
Gain 2 Gain 1
csv

Omron R88D-KN series Specifications

General

Brand	Omron
Model	R88D-KN series
Category	Controller
Language	English