9-19
9 Details on Servo Parameter Objects
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9-2 Gain Settings
9
• Set the hysteresis width above and below the judgment level set in the Gain Switching Level in
Torque Control (3126 hex).
• The unit depends on the setting of Switching Mode in Torque Control (3124 hex).
• The following shows the definitions for the Gain Switching Delay Time in Torque Control (3125 hex),
Gain Switching Level in Torque Control (3126 hex), and Gain Switching Hysteresis in Torque Control
(3127 hex).
• The settings for the Gain Switching Level in Torque Control (3126 hex) and the Gain Switching
Hysteresis in Torque Control (3127 hex) are enabled as absolute values (positive/negative).
3127 hex
Gain Switching Hysteresis 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.
cst
3126 hex
0
3127 hex
3125 hex
Gain 1
Gain 2
Gain 1
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