Omron OMNUC G User Manual page 266

5-16 Gain Switching
Timings for Gain Switch Setting (Pn031)
Switching between gain 1 and gain 2 will be performed as illustrated below.
Note that Position Loop Gain will be switched according to the setting for Pn035.
Gain Switch Setting (Pn031) = 2: Switching from Network
Gain switches instantly when commanded from the network.
Position command
5
Gain 1
Gain Switch Setting (Pn031) = 3: Switching by an amount of change in torque
command
The torque command change amount (angular acceleration and deceleration speed command) is
set in units of 0.05%/166 μs.
Gain Switch is canceled if the change amount vibrates and fails to meet the switching time.
The change amount is approximately 6 units when switching 4% in 2 ms. (0.33% change in
166 μs)
Speed command
Torque command
Amount of change
in torque
Gain 1
5-33
Gain switch command
Gain 2
Pn034
Pn034
Pn032 Pn032
2 1 2
Pn034
Pn034
Pn032
Gain 1
2 1
Gain 1
Pn033
Pn033
Pn032
Gain 1
2