Omron R88D-KTA5L User Manual page 400

6-7 Gain Switching Function
Gain Switching Mode (Pn031) = 6: Switching by Amount of Position Error
Gain switching is performed based on the accumulated count in the error counter.
Pn117
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.
6
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).
Gain 1
6-28
Pn118
Gain 1
Amount of error counter accumulated pulse
INP1 ON
Cancelled because the time conditions are not met
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Amount of position error
Gain 2
Gain 2
INP1 OFF
Gain 2
Pn118
Pn116
Gain 1
Pn116
Gain 1
INP1 ON
Pn116
Gain 1