9-17
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 hysteresis width above and below the judgment level set in the Gain Switching Level in Speed
Control (3122 hex).
• The unit depends on the setting of the Switching Mode in Speed Control (3120 hex).
• The following shows the definitions for the Gain Switching Delay Time in Speed Control (3121 hex),
Gain Switching Level in Speed Control (3122 hex), and Gain Switching Hysteresis in Speed Control
(3123 hex).
• The settings for the Gain Switching Level in Speed Control (3122 hex) and the Gain Switching
Hysteresis in Speed Control (3123 hex) are enabled absolute values (positive/negative).
• Select the switching condition 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 Torque Control
(3124 hex) is 2 and the Torque Limit Selection (3521 hex) is 3 or 6.
Explanation of Settings
*1 The Gain Switching Delay Time in Toque Control (3125 hex) becomes effective when the gain is switched from
2 to 1.
*2 The Gain Switching Hysteresis in Torque Control (3127 hex) is defined in the drawing below.
3123 hex
Gain Switching Hysteresis 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.
3124 hex
Switching Mode in Torque Control
Setting range 0 to 3 Unit −
Default setting
0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.
3124
hex
set
value
Description
Gain switching conditions
Gain Switching
Delay Time in
Torque Control
(3125 hex)
*1
Gain Switching
Level in Torque
Control
(3126 hex)
Gain Switching
Hysteresis in
Torque Control
(3127 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 Torque command variation
(Refer to Figure A.)
Enabled
Enabled
*4
(0.05%)
Enabled
*4
(0.05%)
csv
3122 hex
0
3123 hex
3121 hex
Gain 1
Gain 2
Gain 1
cst
3126 hex
0
3127 hex
3125 hex
Gain 1
Gain 2
Gain 1
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