Omron G5 Series User Manual page 347

Pn110 Speed Feed-forward Amount
Setting 0 to 1,000
range
• Set the feed-forward amount. Increasing the set value decreases the position error and increases the
responsiveness. Overshooting, however, will occur more easily.
Pn111
Speed Feed-forward Command Filter
Setting 0 to 6,400
range
• Set the time constant for the first-order lag filter inserted into the feed-forward section.
• When the feed-forward value is set high to cause overshooting of speed or a large noise during
operation, setting this filter may provide improvements.
Pn112
Torque Feed-forward Amount
Setting 0 to 1,000
range
• Set the feed-forward gain in torque control. Increasing the set value decreases the position error and
increases the responsiveness. Overshooting, however, will occur more easily.
Pn113
Torque Feed-forward Command Filter
Setting 0 to 6,400
range
• Set the time constant for the first-order lag filter inserted into the feed-forward section.
• When the feed-forward value is set high to cause overshooting of speed or a large noise during
operation, setting this filter may provide improvements.
Pn114
Gain Switching Input Operating Mode Selection
Setting 0 to 1
range
Explanation of Set Values
Set value
0 Gain 1 (PI/P switching enabled)
1 Gain 1/Gain 2 switching enabled
• Select either PI/P operation switching or Gain 1/Gain 2 switching.
• The PI/P operation switching is performed with the Gain Switching (GSEL: CN1 pin 27). However,
this setting is fixed to PI when Torque Limit Selection (Pn521) is set to 3.
Gain input
COM and open
Connection with COM
• Refer to 6-7 Gain Switching Function on page 6-23 for the Gain 1/Gain 2 switching.
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User's Manual
Unit 0.1%
Unit 0.01 ms
Unit 0.1%
Unit 0.01 ms
Unit –
Speed loop operation
PI operation
P operation
7 Parameter Details
Default 300
setting
Default 50
setting
Default 0
setting
Default 0
setting
Default 1
setting
Description
Position
Cycle the –
power supply
Position
Cycle the –
power supply
Position Speed
Cycle the –
power supply
Position Speed
Cycle the –
power supply
All
Cycle the –
power supply
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