Omron G5 Series User Manual page 346

7 Parameter Details
Pn104 Torque Command Filter Time Constant
Setting 0 to 2,500
range
*1 The default setting is 126 for a Servo Drive with 200 V and 1 kW or more.
• 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 0 to 30,000
range
*1 The default setting is 380 for a Servo Drive with 200 V and 1 kW or more.
• Set the responsiveness of the position control system for the second position loop.
Pn106 Speed Loop Gain 2
Setting 1 to 32,767
range
*1 The default setting is 180 for a Servo Drive with 200 V and 1 kW or more.
• Set the responsiveness of the second speed loop.
Pn107
Speed Loop Integral Time Constant 2
Setting 1 to 10,000
range
• Set the second speed loop integral 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 2,500
range
*1 The default setting is 126 for a Servo Drive with 200 V and 1 kW or more.
• Set the second torque filter time constant.
• The parameters from Pn105 to Pn109 are the gain and time constants to be selected when Gain
Switching Input Operating Mode Selection (Pn114) is enabled.
• The gain is switched according to the condition set in the Switching Mode parameters (Pn115 and
Pn120).
• If the mechanical system inertia changes greatly or if you want to change the responsiveness
depending on whether the Servomotor is rotating or stopped, you can have 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 the realtime autotuning function. For manual adjustment,
set Realtime Autotuning Mode Selection (Pn002) to 0.
7 - 12
Unit 0.01 ms
Unit 0.1/s
Unit 0.1 Hz
Unit 0.1 ms
Unit –
Unit 0.01 ms
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User's Manual
Default *1 Cycle the
84
setting power supply
Default *1 Cycle the
570
setting power supply
Default Cycle the
*1
270
setting power supply
Default 10,000 Cycle the
setting power supply
Default 0 Cycle the
setting power supply
Default *1 Cycle the
84
setting power supply
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