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6-30
6-7 Gain Switching Function
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6
Applied Functions
TORQUE CONTROL mode
In the TORQUE CONTROL mode, it varies as follows according to GAIN SWITCHING mode
in Torque Control (Pn124).
(
√
: Enabled,
−
: Disabled)
Pn124 set
value
Switching conditions
Gain Switching
Delay Time
(Pn125)
Gain Switching
Level (Pn126)
Gain Switching
Hysteresis
(Pn127)
0
Always gain 1
−
−
−
1
Always gain 2
−
−
−
2
Switching from gain
switching (GSEL)
−
−
−
3
Torque command change
amount
√
√
[
×
0.05%]
√
[
×
0.05%]