Omron R88M-K - Page 386

7 Applied Functions
7-32
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
In the Speed Control Mode, it varies as follows according to Switching Mode in Speed Control (3120
hex).
Speed Control Mode
3120
hex set
value
Description
Gain switching conditions
Gain Switching
Delay Time in
Speed Control
(3121 hex)
*1
*1 The Gain Switching Delay Time in Speed Control (3121 hex) becomes effective when the gain is switched from
2 to 1.
Gain Switching
Level in Speed
Control
(3122 hex)
Gain Switching
Hysteresis in
Speed Control
(3123 hex)
*2
*2 The Gain Switching Hysteresis in Speed Control (3123 hex) is defined in the drawing below.
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
*3 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.
Disabled Disabled Disabled
3 Torque command variation
(Refer to Figure A.)
Enabled
Enabled
*4
(0.05%)
*4 The variation means the change amount in a millisecond (ms).
E.g. The set value is 200 when the condition is a 10% change in torque in 1 millisecond.
Enabled
*4
(0.05%)
4 Speed command change amount
(Refer to Figure B.)
Enabled
Enabled
*5
(10r/min/s)
Enabled
*5
(10r/min/s)
5 Speed command
(Refer to Figure C.)
Enabled
Enabled
(r/min)
Enabled
(r/min)
3122 hex
0
3123 hex
3121 hex
Gain 1 Gain 2 Gain 1