Omron ACCURAX G5 User Manual page 332

6-7 Gain Switching Function
TORQUE CONTROL mode
In the TORQUE CONTROL mode, it varies as follows according to GAIN SWITCHING mode
in Torque Control (Pn124).
Pn124 set
0
1
2
3
6
6-32
Switching conditions
value
Always gain 1
Always gain 2
Switching from gain
switching (GSEL)
Torque command change
amount
Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Gain Switching
Gain Switching
Delay Time
Level (Pn126)
(Pn125)
− −
− −
− −
√
√
[× 0.05%]
(√: Enabled, − : Disabled)
Gain Switching
Hysteresis
(Pn127)
−
−
−
√
[× 0.05%]