Omron G5 Series User Manual page 307

Timing of Gain Switching by Gain Switch Setting
Switching between the Gain 1 (Pn100 to Pn104) and Gain 2 (Pn105 to Pn109) occurs at the following
timing. For the position loop gain, switching occurs based on the value set in Pn119.
For information of each gain, refer to Section 7 Parameter Details.
The details of the gain switch settings vary depending on the control mode to be used. For details about
the settings available in each mode, refer to Gain Switching Setting for Each Control Mode on page 6-
30.
Gain Switching Mode = 2: Gain Switching (GSEL)
Instant switching occurs when a gain switching command is issued from the network.
Position command
GSEL
Gain 1
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User's Manual
Gain switching instruction
Gain 2
6 Applied Functions
Gain 1
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6