Omron G5 Series User Manual

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6 Applied Functions
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
6-7 Gain Switching Function
6
6-7-2 Parameters Requiring Settings
 Gain Switching Mode (Pn031) = 6: Switching by Amount of Position Error
Gain switching is performed based on the accumulated pulse in the error counter.
 Gain Switching Mode = 7: Switching by Position Command Input
Gain switching is performed when a position command corresponding to 1 command unit or more is
input.
Gain 1 Gain 1
Gain 2
Amount of position error
Pn118
Pn117
Pn118
Pn116
Gain 1 Gain 1
Gain 2
Pn116
Position
command

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)