Omron OMNUC G User Manual page 267

Gain Switch Setting (Pn031) = 5, 9: Switching by the Speed Command or Actual
Servomotor Speed
Pn034
Pn033
Gain 1
Gain Switch Setting (Pn031) = 6: Switching by the Position Deviation
Switches the gain based on the accumulated value in the deviation counter.
Pn034
Pn033
Gain 1
Gain Switch Setting (Pn031) = 7: Switching based on position command pulses
received
Switches the gain when one or more position command pulse exists.
Position command
Gain 1
Speed command or actual Servomotor speed
Gain 2
Position deviation amount
Gain 2
Gain 2
5-16 Gain Switching
Pn034
Pn032
Gain 1
Pn034
Pn032
Gain 1
Pn032
Gain 1
5-34
5