Omron G5 Series User Manual

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

Omron G5 Series Specifications

General

Feedback	Incremental Encoder, Absolute Encoder
Communication	EtherCAT
Safety Function	STO (Safe Torque Off)
Protection Functions	Overvoltage, Undervoltage, Overcurrent
Vibration Resistance	4.9 m/s² (10 to 55 Hz)