Omron R88D-KTA5L User Manual page 403

Torque Control Mode
In the Torque Control Mode, it varies as follows according to switching mode in Torque Control
(Pn124).
Pn124 set
value
0
1
2
3
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Switching conditions
Always Gain 1
Always Gain 2
Switching from gain
switching (GSEL)
Torque command change
amount
6-7 Gain Switching Function
Gain Switching
Gain Switching
Delay Time
Level (Pn126)
(Pn125)
− −
− −
− −
√
√
[× 0.05%]
(√: Enabled, − : Disabled)
Gain Switching
Hysteresis
(Pn127)
−
−
−
√
[× 0.05%]
6-31
6