9-13
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
• 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.
• This object is enabled when the Switching Mode in Position Control (3115 hex) is 3, 5, 6, 9 or 10. It
sets the judgment level for switching between gain 1 and gain 2.
• The unit depends on the Switching Mode in Position Control (3115 hex).
• Set the hysteresis width above and below the judgment level set in the Gain Switching Level in
Position Control (3117 hex).
• The unit depends on the setting of the Switching Mode in Position Control (3115 hex).
• The following shows the definitions for the Gain Switching Delay Time in Position Control (3116 hex),
Gain Switching Level in Position Control (3117 hex), and Gain Switching Hysteresis in Position
Control (3118 hex).
• The settings for the Gain Switching Level in Position Control (3117 hex) and the Gain Switching
Hysteresis in Position Control (3118 hex) are enabled as absolute values (positive/negative).
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.
3117 hex
Gain Switching Level in Position Control
Setting range 0 to 20000 Unit −
Default setting
50 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.
3118 hex
Gain Switching Hysteresis in Position Control
Setting range 0 to 20000 Unit −
Default setting
33 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.
csp
pp
hm
csp
pp
hm
csp
pp
hm
3117h
0
3118h
3116h
Gain 1
Gain 2
Gain 1
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