Omron OMNUC G5 User Manual page 327

GAIN SWITCHING mode (Pn031) = 6: Switching by Amount of Position Error
Gain switching occurs based on the accumulated count in the error counter.
Pn118
Pn117
Gain 1
GAIN SWITCHING mode = 7: Switching by Position Command Received
Gain switching occurs when a position command corresponding to 1 command unit or more is
received.
Position command
Gain 1
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6-7 Gain Switching Function
Amount of position error
Gain 2
Gain 2
Pn118
Pn116
Gain 1
Pn116
Gain 1
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6