Omron G5 Series User Manual page 310

6 Applied Functions
Gain Switching Mode = 8: Switching by Positioning Completion Signal OFF
Switching to the Gain 2 is performed when the accumulated pulse in the error counter exceeds
Positioning Completion Range 1 (Pn431).
Amount of accumulated
pulse in the error counter
INP1 ON INP1 ON
INP1 OFF
Pn116
Cancelled when the time conditions are not met.
Gain 1 Gain 1
Gain 2
Gain Switching Mode = 10: Switching by Combination of Position Command
Input and Speed
Switching to Gain 2 occurs when the position command is input.
Switching to Gain 1 occurs if no position command is issued for the period of Gain Switching Delay
Time in Speed Control (Pn121) and the speed also becomes the same as or less than the result of
Gain Switching Level (Pn122) minus Gain Switching Hysteresis (Pn123) [r/min].
Position command
Pn123
Pn122
Actual motor speed
Pn116 Pn121
Gain 1 Gain 1
Gain 2
6 - 28 OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User's Manual