Omron R88M-K - Page 420

9 Details on Servo Parameter Objects
9-16
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
• Set the delay time when returning from gain 2 to gain 1 if the Switching Mode in Speed Control
(3120 hex) is set to 3 to 5.
• In Speed Control Mode, this is enabled when the Switching Mode in Speed Control (3120 hex) is set
to 3 to 5. Set the judgment level for switching between gain 1 and gain 2.
• The unit depends on the Switching Mode in Speed Control (3120 hex).
3121 hex
Gain Switching Delay Time in Speed Control
Setting range 0 to 10000 Unit 0.1 ms Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.
3122 hex
Gain Switching Level in Speed Control
Setting range 0 to 20000 Unit − Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.
H
L
H
L
H
L
H
L
Figure A
Speed V
Torque T
Time
1
1
22 22
1
1Gain 1
Figure C
Speed V
Gain 1 1Gain 2
Accumulated pulse
Level
Time
Figure B
Speed V
Gain 1 Gain 1Gain 2
Time
Command speed S
Gain 1 Gain 2
Actual speed N
Time
H
L
Gain 1
Gain 2 only for the speed loop integral time constant
Gain 1 for all others
Figure D
Level
Level
Level
csv
csv