Omron G5 Series User Manual page 311

Timing of Gain Switching by Position Gain Switching Time (Pn119)
When using the position control, setting Gain Switching Time helps prevent the rapid increase of the
position loop gain if the values set in Position Loop Gain (Pn100) and Position Loop Gain 2 (Pn105)
differ significantly.
The position loop gain increases as the set time expires.
Position Gain Switching Time
The Position Gain Switching Time (Pn119) can be set to reduce torque fluctuations and vibration
caused by a sudden change in the position loop gain when the gain is switched during position control.
Precautions for Correct Use Precautions for Correct Use
When the position loop gain is switched to a smaller value, switching of the gain occurs
immediately regardless of this parameter setting.
Example: Gain 1 (Pn100) > Gain 2 (Pn105)
Gain 2
(Pn105)
Gain 1
(Pn100)
Switching result
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User's Manual
Position Gain
Switching Time [ms]
(Pn119)
Gain 1 Gain 2
6 Applied Functions
Gain 1
6
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