The impurity-induced antiferromagnetic ordering of the doped Haldane magnet Pb(Ni{1-x}Mg{x})2V2O8 (0 < x <0.06) was studied by electron spin resonance (ESR) on ceramic samples in the frequency range 9-110 GHz. Below the N'{e}el temperature a transformation of the ESR spectrum was found, indicating an antiferromagnetic resonance mode of spin precession. The excitation gap of the spin-wave spectrum increases with increasing Mg-concentration in the same manner as the N'{e}el temperature, reaching its maximum value of 80 GHz at x > 0.04. At small concentrations x < 0.02 the signals of antiferromagnetic resonance were found to coexist with the signal of the paramagnetic resonance indicating a microscopic separation of the magnetic phases.

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