Omron OMNUC G5 R88M-K series User Manual page 285

Pn104
Torque Command Filter Time Constant 1
Setting
0 to 2500
range
*1.It is 126 for a Drive with 200 V and 1 kW or greater, or with 400 V.
 Set the time constant for the first-order lag filter inserted into the torque command.
 This parameter may be effective in suppressing vibration due to torsion resonance.
Pn105
Position Loop Gain 2
Setting
1 to 30000
range
*1.It is 380 for a Drive with 200 V and 1 kW or greater, or with 400 V.
 Set the responsiveness of the position control system for the second position loop.
Pn106
Speed Loop Gain 2
Setting
1 to 32767
range
*1.It is 180 for a Drive with 200 V and 1 kW or greater, or with 400 V.
 Set the responsiveness of the second speed loop.
Pn107
Speed Loop Integration Time Constant 2
Setting
1 to 10000
range
 Set the second speed loop integration time constant.
Pn108
Speed Feedback Filter Time Constant 2
Setting
0 to 5
range
 Set the second speed feedback filter.
Pn109
Torque Command Filter Time Constant 2
Setting
0 to 2500
range
*1.It is 126 for a Drive with 200 V and 1 kW or greater, or with 400 V.
 Set the second torque filter time constant.
 The parameters from Pn105 to Pn109 are the gain and time constants to be selected when the
GAIN SWITCHING INPUT OPERATING mode Selection (Pn114) is enabled.
The gain switching condition is switched according to the condition set in the SWITCHING mode
(Pn115, Pn120 and Pn124).
If the mechanical system inertia changes greatly or if you want to change the responsiveness
depending on whether the motor is rotating or being stopped, you can achieve the appropriate
control by setting the gains and time constants beforehand for each of these conditions, and
switching them according to the condition.
 This parameter is automatically changed by executing realtime autotuning function. To set it
manually, set the REALTIME AUTOTUNING mode Selection (Pn002) to 0.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Unit 0.01 ms
Unit 0.1/s
Unit 0.1 Hz
Unit 0.1 ms

Unit
Unit 0.01 ms
8-2 Gain Parameters
Default Data
*1
84
setting attribute
Position Full closing
Default Data
*1
570
setting attribute
Default Data
*1
270
setting attribute
Default Data
10000
setting attribute
Default Data
0
setting attribute
Default Data
*1
84
setting attribute
All
B
B
All
B
All
B
8
All
B
All
B
8-10