Omron G5 Series User Manual

6 Applied Functions
6 - 28
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
 Gain Switching Mode = 8: Switching by Positioning Completion Signal OFF
Switching to the Gain 2 is performed when the accumulated pulse in the error counter exceeds
Positioning Completion Range 1 (Pn431).
 Gain Switching Mode = 10: Switching by Combination of Position Command
Input and Speed
Switching to Gain 2 occurs when the position command is input.
Switching to Gain 1 occurs if no position command is issued for the period of Gain Switching Delay
Time in Speed Control (Pn121) and the speed also becomes the same as or less than the result of
Gain Switching Level (Pn122) minus Gain Switching Hysteresis (Pn123) [r/min].
Gain 1 Gain 1
Gain 2
Pn116
INP1 ON INP1 ON
INP1 OFF
Amount of accumulated
pulse in the error counter
Cancelled when the time conditions are not met.
Gain 1 Gain 1
Gain 2
Pn121Pn116
Pn122
Pn123
Actual motor speed
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)