Omron G5 Series - Page 308

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
µs.
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
µs), 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 2Gain 2
Gain 1
Pn121Pn121
Pn123
Pn123
Pn122
Pn122
Pn123
Pn123
Pn121 Pn121
Speed command
Torque command
A
mount of
change in torque
Gain 1 Gain 1
Gain 2
Speed command or
actual motor speed
Pn118, Pn123
Pn117, Pn122
Pn118, Pn123
Pn116, Pn121