Omron R88D-GT series User Manual page 349

Pn1A Speed Loop Integration Time Constant 2
Setting range 1 to 1000
• Use this parameter to set the second speed loop integration time constant.
Pn1B
Speed Feedback Filter Time Constant 2
Setting range 0 to 5
• Use this parameter to set the second speed feedback filter time constant.
Pn1C
Torque Command Filter Time Constant 2
Setting range 0 to 2500
• Use this parameter to set the second torque command filter time constant.
• The parameters from Pn18 to Pn1C are the gain and time constants to be selected when gain
switching is enabled in the Gain Switching Input Operating Mode Selection (Pn30).
• The gain is switched according to the condition set in the Control Gain Switch 1 Setting (Pn31).
• If the mechanical system inertia changes greatly or if you want to change the responsiveness
when the Servomotor is rotating and when it is being stopped, you can achieve the appropriate
control by setting the gains and time constants beforehand for each of these conditions, and switch
them according to the condition.
• These parameters are automatically changed by executing realtime autotuning. To set them
manually, set the Realtime Autotuning Mode Selection (Pn21) to 0.
• Gain switching is enabled only for position control.
Pn1D
Notch Filter 1 Frequency
Setting range 100 to 1500
• Use this parameter to set the frequency of notch filter 1 for resonance suppression.
• The notch filter function will be disabled if this parameter is set to 1500.
Pn1E Notch Filter 1 Width
Setting range 0 to 4
• Use this parameter to set the width of notch filter 1 for resonance suppression to one of 5 levels.
• Increasing the setting increases the notch width. Normally, use the default setting.
Pn1F
Reserved
Setting range ---
Unit ms Default setting
Unit --- Default setting
Unit 0.01 ms Default setting
Unit Hz Default setting
Unit --- Default setting
Unit --- Default setting
5-16 User Parameters
All modes
50 ---
Power OFF→ON
All modes
0 ---
Power OFF→ON
All modes
100 ---
Power OFF→ON
All modes
1500 ---
Power OFF→ON
All modes
2 ---
Power OFF→ON
--- ---
Power OFF→ON
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