Omron G5 R88D-KE Series, User Manual, Page: 308 / 506

6 Applied Functions
6 - 26
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
Gain Switching Mode = 3: Switching by Amount of Change in Torque
Command
Set the amount of change in torque command (angular acceleration and deceleration command) in
units of 0.05%/166
µ
s.
If the amount of change fluctuates and the switching time is not met, switching is cancelled.
To switch when the amount of change reaches 4% in 2 ms (0.33%/166
µ
s), set the value to
approximately 6.
Gain Switching Mode = 5 or 9: Switching by Speed Command or Actual Motor
Speed
Gain 1 Gain 1 Gain 1 Gain 1 Gain 2 Gain 2 Gain 2 Gain 2
Gain 1
Pn121 Pn121
Pn123
Pn123
Pn122
Pn122
Pn123
Pn123
Pn121 Pn121
Speed command
Torque command
Amount of
change in torque
Gain 1 Gain 1
Gain 2
Speed command or
actual motor speed
Pn118, Pn123
Pn117, Pn122
Pn118, Pn123
Pn116, Pn121