7 Applied Functions
7-36
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Note The “speed command” is the Motor Control Effort (401A hex) [r/min].
The gain is switched according to the pulse position error [encoder pulses/external encoder pulses].
The gain is switched according to whether there is a position command.
Note Whether there is a position command is determined by changes in the Target position (607A hex).
Gain Switching Mode = 5 or 9: Switching by Speed Command or
Actual Motor Speed
Gain Switching Mode = 6: Switching by Pulse Position Error
Gain Switching Mode = 7: Switching by Whether There Is a Position
Command
3118 hex
3117 hex
3118 hex
3116 hex
Gain 1
Gain 1
Gain 2
peed command or actual motor speed
Pulse position error
3118 hex
3118 hex
3116 hex
3117 hex
Gain 1
Gain 1
Gain 2
Gain 1 Gain 1
Gain 2
3116h
Position command
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