Omron OMNUC G Series User Manual page 292

5-16 Gain Switching
 Gain switching in torque control mode
In torque control mode the Gain Switch Setting (Pn031) changes as follows.
Pn031
setting
0 Always Gain 1
1 Always Gain 2
2 Switching from network
Amount of change in torque
3
command
5
5-37
Switching condition
Time (Pn032)
(O: Supported,
Gain Switch
Gain Switch
Level Setting
(Pn033)
x x
x x
x x
O
O

( 0.05%)
x : Not supported)
Gain Switch
Hysteresis
Setting (Pn034)
x
x
x
O

( 0.05%)