Omron R88M-K - Page 415

9-11
9 Details on Servo Parameter Objects
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9-2 Gain Settings
9
• Select either PI/P operation switching or gain 1/gain 2 switching.
• The PI/P operation switching is performed with the Speed Loop PI/P Control command in EtherCAT
communications.
• Refer to 7-10 Gain Switching 3 Function on page 7-38 for the Gain 1/Gain 2 switching.
Explanation of Set Values
• 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 Position Control (3116 hex) becomes effective when the gain is switched
from 2 to 1.
3114 hex
Gain Switching Input Operating Mode Selection
Setting range 0 to 1 Unit −
Default setting 1 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.
Set value Description
0 Gain 1 (PI/P switching enabled)
1 Gain 1/gain 2 switching available
3115 hex
Switching Mode in Position Control
Setting range 0 to 10 Unit − Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.
3115
hex
set
value
Description
Gain switching conditions
Gain Switching
Delay Time in
Position Control
(3116 hex)
*1
Gain Switching
Level in Position
Control
(3117 hex)
Gain Switching
Hysteresis in
Position Control
(3118 hex)
*2
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
Disabled Disabled Disabled
3 Command torque value (Refer to
Figure A.)
Enabled
Enabled
*4
(%)
Enabled
*4
(%)
4 Always Gain 1 (3100 to 3104 hex). Disabled Disabled Disabled
5 Command speed (Refer to Figure B.) Enabled Enabled (r/min) Enabled (r/min)
6 Pulse position error (Refer to Figure C.) Enabled
Enabled
*5
(pulse)
Enabled
*5
(pulse)
7 Whether there is a position command
(Refer to Figure D.)
Enabled Disabled Disabled
9 Actual motor speed (Refer to Figure B.) Enabled Enabled (r/min) Enabled (r/min)
10 Combination of whether there is a position
command and actual motor speed (Refer
to Figure E.)
Enabled
Enabled
*6
(r/min)
Enabled
*6
(r/min)
All
csp
pp