6-33
6-9 Gain Switching Function
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
6
Applied Functions
Timing by Gain Switching Setting
Switching between Gain 1 (Pn100 to Pn104) and Gain 2 (Pn105 to Pn109) occurs at the
following timings. Take note that, in the case of position loop gains, switching occurs based on
the setting of Pn119.
The details of gain switching setting vary depending on the CONTROL mode used. For the
details of settings available in each mode, refer to "Gain Switching Setting for Each CONTROL
mode" (P.6-28).
GAIN SWITCHING mode = 2: Gain Switching (GSEL)
Instant switching occurs when a gain switching command is issued from the network.
Gain 1
GSEL
Gain 1
Gain 2
Gain switching instruction
Position command
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