Omron G5 Series User Manual page 308

6 Applied Functions
Gain Switching Mode = 3: Switching by Amount of Change in Torque
Command
Set the amount of change in torque command (angular acceleration and deceleration command) in
units of 0.05%/166
If the amount of change fluctuates and the switching time is not met, switching is cancelled.
To switch when the amount of change reaches 4% in 2 ms (0.33%/166
approximately 6.
Speed command
Torque command
Amount of
change in torque
Gain 1
Gain Switching Mode = 5 or 9: Switching by Speed Command or Actual Motor
Speed
Pn118, Pn123
Pn117, Pn122
Gain 1
6 - 26
s.
µ
Pn123
Pn123
Pn121 Pn121
Gain 2 Gain 1 Gain 2
Speed command or
actual motor speed
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User's Manual
Pn123
Pn123
Pn121
Gain 1 Gain 2
Gain 2
s), set the value to
µ
Pn122
Pn122
Pn121
Gain 1
Gain 1 Gain 2
Pn118, Pn123
Pn116, Pn121
Gain 1