6-26
6-7 Gain Switching Function
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
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
μ
s.
If the amount of change fluctuates and the switching time is not met, the switching will be
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
μ
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