Omron OMNUC G5 R88M-K series User Manual page 262

6-9 Gain Switching Function
GAIN SWITCHING mode = 3: Switching by Torque Command Change Amount
Torque command change amount (angular acceleration and deceleration speed command) is
set in units of 0.05%/166 s.
If the amount of change fluctuates and the switching time is not met, the switching is cancelled.
In the case of switching due to a change amount of 4% over 2 ms, a value of approx. 6 will
apply. (Change of 0.33% per 166 s.)
Speed command
Torque command
6
Torque change
amount
Gain 1
GAIN SWITCHING mode = 5, 9: Switching by Speed Command or Actual Motor Speed
Pn118, Pn123
Pn117, Pn122
6-33
Pn125
2 1 2
Speed command or actual motor speed
Gain 1
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Pn127
Pn127
Pn127
Pn127
Pn125
Gain 1
Gain 2
Pn126
Pn125 Pn125
Gain 1
2 1 2
Pn118, Pn123
Pn116, Pn121
Gain 1
Pn126