![background image](http://html1.mh-extra.com/html/omron/omnuc-g5-r88d-kn-series/omnuc-g5-r88d-kn-series_user-manual_742785262.webp)
6-33
6-9 Gain Switching Function
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
6
Applied Functions
GAIN SWITCHING mode = 3: Switching by Torque Command Change Amount
Torque command change amount (angular acceleration and deceleration speed command) is
set in units of 0.05%/166
s.
If the amount of change fluctuates and the switching time is not met, the switching is cancelled.
In the case of switching due to a change amount of 4% over 2 ms, a value of approx. 6 will
apply. (Change of 0.33% per 166
s.)
GAIN SWITCHING mode = 5, 9: Switching by Speed Command or Actual Motor Speed
Gain 1
Gain 1
1
1
2
2
2
2
Gain 1
Pn125
Pn125
Pn127
Pn127
Pn126
Pn126
Pn127
Pn127
Pn125
Pn125
Speed command
Torque command
Torque change
amount
Gain 1
Gain 1
Gain 2
Speed command or actual motor speed
Pn118, Pn123
Pn117, Pn122
Pn118, Pn123
Pn116, Pn121