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6-7 Gain Switching Function
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Applied Functions
6-7 Gain Switching Function
Outline of Operation
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This function switches the position loop and speed loop gain.
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Select enable or disable using GAIN SWITCHING INPUT OPERATING mode Selection (Pn114).
Set the switching condition using gain switching setting.
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If the load inertia changes or you want to change the responsiveness depending on whether the
motor is stopping and operating, you can perform an optimal control by gain switching.
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Use gain switching when the realtime autotuning does not operate effectively, etc. (see below.)
• When the load inertia fluctuates in 200 ms or less.
• When the motor rotation speed does not exceed 500 r/min, or load torque does not exceed
50% of the rated torque.
• When external force is constantly applied, as with a vertical axis.
Note. When the gain 2 has been selected, realtime autotuning will not operate normally. If using the gain
switching, set the Realtime Autotuning to "not use" (Pn002 = 0).