Omron OMNUC G5 R88M-K series User Manual page 263

GAIN SWITCHING mode (Pn031) = 6: Switching by Amount of Position Error
Gain switching is performed based on the accumulated count in the error counter.
Pn118
Pn117
Gain 1
GAIN SWITCHING mode = 7: Switching by Position Command Received
Gain switching is performed when a position command corresponding to 1 command unit or
more is received.
Position command
Gain 1
GAIN SWITCHING mode = 8: Switching by Positioning Completion Signal OFF
Switching to the gain 2 is performed when the error counter accumulated pulse exceeds the
Positioning Completion Range 1 (Pn431).
INP1 ON
Gain 1
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Amount of position error
Gain 2
Amount of error counter accumulated pulse
INP1 OFF
Cancelled because the time conditions are not met
Gain 2
6-9 Gain Switching Function
Gain 2
Pn118
Pn116
Gain 1
Pn116
Gain 1
INP1 ON
Pn116
Gain 1
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