9-15
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 the conditions for switching between gain 1 and gain 2 when the Gain Switching Input
Operating Mode Selection (3114 hex) is set to 1.
• The gain is always gain 1 regardless of the gain input if the Switching Mode in Speed Control
(3120 hex) is 2 and the Torque Limit Selection (3521 hex) is 3 or 6.
Explanation of Settings
*1 The Gain Switching Delay Time in Speed Control (3121 hex) becomes effective when the gain is switched from
2 to 1.
*2 The Gain Switching Hysteresis in Speed Control (3123 hex) is defined in the drawing below.
*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.
*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.
*5 When the set value is 10, meanings of the Gain Switching Delay Time in Speed Control (3121 hex), the Gain
Switching Level in Speed Control (3122 hex), and the Gain Switching Hysteresis in Speed Control (3123 hex)
differ from the normal case. (Refer to Figure D.)
3120 hex
Switching Mode in Speed Control
Setting range 0 to 5 Unit −
Default setting
0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.
3120
hex
set
value
Description
Gain switching conditions
Gain Switching
Delay Time in
Speed Control
(3121 hex)
*1
Gain Switching
Level in Speed
Control
(3122 hex)
Gain Switching
Hysteresis in
Speed Control
(3123 hex)
*2
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
Disabled Disabled Disabled
3 Torque command variation
(Refer to Figure A.)
Enabled
Enabled
*3
(0.05%)
Enabled
*3
(0.05%)
4 Speed command variation
(Refer to Figure B.)
Enabled
Enabled
*4
(10 r/min/s)
Enabled
*4
(10 r/min/s)
5 Speed command (Refer to Figure C.) Enabled Enabled (r/min) Enabled (r/min)
csv
3122 hex
0
3123 hex
3121 hex
Gain 1
Gain 2
Gain 1
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