Omron R88D-KN50F-ECT-R - Page 337

9-12
9-2 Gain Settings
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9
Details on Servo Parameter Objects
*6. When the set value is 10, meanings of the Gain Switching Delay Time in Position Control, the Gain
Switching Level in Position Control, and the Gain Switching Hysteresis in Position Control differ from
the normal case. (Refer to Figure E).
 Set the delay time when returning from gain 2 to gain 1 if the Switching Mode in Position Control
(3115 hex) is set to 3 or 5 to 10.
H
L
H
L
H
L
H
L
Position
command
values
Position command values
Motor speed
H
L
Figure A
Speed V
Command torque
Time
1
22
1
Gain 1
Figure C
Speed V
Gain 1
1
Gain 2
Pulse position error
Level
Time
Figure D
Figure E
Gain 1
1
Gain 2
Time
Figure B
Speed V
Gain 1
Gain 1
Gain 2
Time
Gain 1 Gain 2
Time
Gain 1
Level
Level
Level
Time
3116 hex
Gain Switching Delay Time in Position Control
Setting
range
0 to 10000 Unit 0.1 ms
Default
setting
50
Data
attribute
B
Size 2 bytes (INT16) Access RW PDO map Not possible.
csp