7 Applied Functions
7-34
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
In the Torque Control Mode, it varies as follows according to Switching Mode in Torque Control
(3124 hex).
Torque Control Mode
3124
hex set
value
Description
Gain switching conditions
Gain Switching
Delay Time in
Torque Control
(3125 hex)
*1
*1 The Gain Switching Delay Time in Torque Control (3125 hex) becomes effective when the gain is switched
from 2 to 1.
Gain Switching
Level in Torque
Control
(3126 hex)
Gain Switching
Hysteresis in
Torque Control
(3127 hex)
*2
*2 The Gain Switching Hysteresis in Torque Control (3127 hex) is defined in the drawing below.
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
*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 change amount
(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%)
3126 hex
0
3127 hex
3125 hex
Gain 1
Gain 2
Gain 1
H
L
H
L
Figure A
Rotation
speed (V)
Torque (T)
Time
1
1
22 22
1
1Gain 1
Level
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