Omron G5 Series User Manual page 309

Gain Switching Mode (Pn031) = 6: Switching by Amount of Position Error
Gain switching is performed based on the accumulated pulse in the error counter.
Pn118
Pn117
Gain 1
Gain Switching Mode = 7: Switching by Position Command Input
Gain switching is performed when a position command corresponding to 1 command unit or more is
input.
Position
command
Gain 1
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User's Manual
Amount of position error
Gain 2
Gain 2
6 Applied Functions
Pn118
Pn116
Gain 1
Pn116
Gain 1
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6