7 Applied Functions
7-28
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
7-9 Gain Switching Function
This function switches the position loop and speed loop gain.
Select enable or disable using Gain Switching Input Operating Mode Selection (3114 hex). Set the
switching condition using the gain switching setting.
If the load inertia changes or you want to change the responsiveness depending on whether the motor
is stopping or operating, you can perform optimal control by using gain switching.
The function is used when the realtime autotuning does not work effectively, such as:
• When the load inertia fluctuates in 200 ms or less.
• When the motor rotation speed does not exceed 500 r/min, or load torque does not exceed 50%
of the rated torque.
• When an external force is constantly applied, as with a vertical axis.
Precautions for Correct UsePrecautions for Correct Use
• When Gain 2 has been selected, realtime autotuning does not operate normally. If using the
gain switching, set the Realtime Autotuning to “Disabled” (3002 hex = 0).
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