9 Details on Servo Parameter Objects
9-18
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
*3 When the Gain switching command of EtherCAT communications is 0, the gain switches to Gain 1. When the
command is 1, the gain switches to Gain 2.
*4 The variation means the change amount in a millisecond (ms).
E.g. The set value is 200 when the condition is a 10% change in torque in 1 millisecond.
• Set the delay time when returning from gain 2 to gain 1 if the Switching Mode in Torque Control
(3124 hex) is set to 3.
• This is enabled when the Switching Mode in Torque Control (3124 hex) is set to 3. It sets the
judgment level for switching between gain 1 and gain 2.
• The unit depends on the setting of Switching Mode in Torque Control (3124 hex).
3125 hex
Gain Switching Delay Time in Torque Control
Setting range 0 to 10000 Unit −
Default setting
0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.
3126 hex
Gain Switching Level in Torque Control
Setting range 0 to 20000 Unit −
Default setting
0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.
H
L
H
L
Figure A
Speed V
Torque T
Time
1
1
22 22
1
1Gain 1
Level
cst
cst
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