Omron R88D-GT series User Manual page 348

5-16 User Parameters
Pn13 Speed Feedback Filter Time Constant
Setting range
• Use this parameter to set the time constant for the low-pass filter (LPF) after speed detection to
one of six value (0 to 5).
• Increasing the setting increases the time constant and decreases the noise generated by the
Servomotor. Responsiveness, however, also decreases.
• Normally, use the default setting.
Pn14
Torque Command Filter Time Constant
Setting range
• Use this parameter to set the time constant for the first-order lag filter inserted into the torque
5
command.
• This parameter may be effective in suppressing oscillation due to torsion resonance.
Pn15
Setting range
• Use this parameter to set the feed-forward amount in Position Control Mode.
• Increasing the setting decreases the position deviation and increases the responsiveness.
Overshooting, however, will occur more easily.
Pn16
Feed-forward Command Filter
Setting range
• Use this parameter to set the time constant for the first-order lag filter inserted into the feed-
forward.
• Setting the Feed-forward Command Filter may improve operation if speed overshooting occurs or
the noise during operation is large when the feed forward is set high.
Pn17 Reserved
Setting range
Pn18
Setting range
• Use this parameter to set the responsiveness of the position control system for the second position
loop.
Pn19
Setting range
• Use this parameter to set the responsiveness of the second speed loop.
5-61
0 to 5 Unit
0 to 2500 Unit
Feed-forward Amount
−2000 to 2000 Unit
0 to 6400 Unit
--- Unit
Position Loop Gain 2
1 to 3000 Unit
Speed Loop Gain 2
1 to 3500 Unit
--- Default setting
0.01ms Default setting
0.10% Default setting
0.01ms Default setting
--- Default setting
1/s Default setting
Hz Default setting
All modes
0 ---
Power OFF→ON
All modes
80 ---
Power OFF→ON
Position
300 ---
Power OFF→ON
Position
100 ---
Power OFF→ON
--- ---
Power OFF→ON
Position
20 ---
Power OFF→ON
All modes
80 ---
Power OFF→ON