Omron R88D-KTA5L User Manual page 401

Gain Switching Mode = 10: Switching by Combination of Position Command Received and Speed
Switching to the gain 2 occurs when a position command is received.
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) - Gain Switching Hysteresis (Pn123) [r/min], switching to the gain 1 will occur.
Position command
Gain 1
Timing for Position Gain Switching Time (Pn119)
You can suppress rapid increases in the position loop gain during position control when there
is a large difference between Position Loop Gain 1 (Pn100) and Position Loop Gain 2 (Pn105).
When the position loop gain increases, it will be changed over the specified time.
Position Gain Switching Time
The Position Gain Switching Time (Pn119) can be set to reduce torque variations and vibration
caused by a rapid increase in the position loop gain that can occur when the gain is switched
during position control or fully closed control.
Precautions for Correct Use
 When the position loop gain is switched to a smaller value, the setting of this parameter will be
ignored and the gain will be switched immediately.
Example Gain 1 (Pn100) > Gain 2 (Pn105)
Gain 2 (Pn105)
Gain 1 (Pn100)
Result of switching
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Actual motor speed
Gain 2
Position Gain
Switching Time [ms]
(Pn119)
1 2
6-7 Gain Switching Function
Pn122
Pn116
1
Pn123
Pn121
Gain 1
6
6-29