Omron G5 Series User Manual page 480

Appendices
Gain Adjustment Parameters
Pn
Name
No.
100 Position Loop
Gain
101 Speed Loop
Gain
102 Speed Loop
Integral Time
Constant
103 Speed
Feedback Filter
Time Constant
104 Torque
Command
Filter Time
Constant
105 Position Loop
Gain 2
106 Speed Loop
Gain 2
107 Speed Loop
Integral Time
Constant 2
108 Speed
Feedback Filter
Time Constant 2
109 Torque
Command
Filter Time
Constant 2
110 Speed Feed-
forward Amount
111 Speed Feed-
forward
Command
Filter
112 Torque Feed-
forward Amount
113 Torque Feed-
forward
Command
Filter
114 Gain Switching
Input Operating
Mode Selection
A - 14
Setting Description
Set the first position loop gain.
Set the first speed loop gain.
Set the first speed loop integral time constant.
Set the first speed feedback filter in six levels.
Set the first torque filter time constant.
Set the second position loop gain.
Set the second speed loop gain.
Set the second speed loop integral time
constant.
Set the second speed feedback filter in six
levels.
Set the second torque filter time constant.
Set the speed feed-forward amount.
Set the speed feed-forward filter time constant.
Set the torque feed-forward amount.
Set the torque feed-forward filter.
Set this parameter if the gain switching function
is used for optimal tuning.
0 Gain 1 (PI/P switching is enabled)
1 Gain 1/Gain 2 switching is enabled
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User's Manual
Default Setting
Unit
setting range
*1 0.1/s 0 to
480
30,000
*2 0.1 Hz 1 to
270
32,767
*3 0.1 1 to
210
ms 10,000
0 – 0 to 5
*4 0.01 0 to
84
ms 2,500
0.1/s 0 to
*5
570
30,000
*6 0.1 Hz 1 to
270
32,767
10,000 0.1 1 to
ms 10,000
0 – 0 to 5
*7 0.01 0 to
84
ms 2,500
300 0.1% 0 to
1,000
50 0.01 0 to
ms 6,400
0 0.1% 0 to
1,000
0 0.01 0 to
ms 6,400
1 – 0 to 1
Cycle the
power
supply
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