Omron OMNUC W Series User Manual page 392

Appendix
Para- Para- Parameter Parameter
meter meter name name
Digit
No. No.
No.
Pn10A Feed-for- Sets position control feed-forward command filter.
ward com-
mand filter
Pn10b Speed 0
control
setting g
1
2, 3
Pn10C P control Sets level of torque command to switch from PI
switching control to P control.
(torque
command)
Pn10d P control Sets level of speed command to switch from PI
switching control to P control.
(speed
command)
Pn10E P control Sets level of acceleration command to switch from PI
switching control to P control.
(accelera-
tion com-
mand)
Pn10F P control Sets level of deviation pulses to switch from PI
switching control to P control.
(deviation
pulse)
Pn110 Online 0
autotuning
setting g
1
2
3
6-12
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Explanation (See note 1.)
Explanation (See
Name
Setting
note 2.)
P control 0 Sets internal torque
switching
command value
conditions conditions (Pn10C).
1 Sets speed
command value
conditions (Pn10d).
2 Sets acceleration
command value
conditions (Pn10E)
3 Sets deviation pulse
value conditions
(Pn10F)
4 No P control
switching function
Speed
0 PI control
control loop control loop
1 P control
switching
Not used. 0 (Do not change
setting.)
Selects
0 Auto-tunes initial
online operations only after
auto-tuning g power is turned ON.
1 Always auto-tunes.
2 No auto-tuning
Selects
0 ON
speed feed-
back com back com-
1 OFF
pensation
function
Selects 0 Friction
adhesive
compensation: OFF
friction f i ti
1 Friction
compensa-
compensation: rated
tion function
torque ratio small
2 Friction
compensation: rated
torque ratio large
Not used. 0 (Do not change
setting.)
Default Default Default Default Unit Unit
setting setting setting setting
100/200 V 100/200 V 400 V 400 V
0 0 x 0.01 ms
004 000 ---
200 200 %
0 0 r/min
0 0 10 r/min/s
10 0 Command
unit
0012 0010 ---
Chapter 6
Setting Setting Restart Restart
range range power? power?
0 to 6400 ---
--- Yes
0 to 800 ---
0 to ---
10000
0 to 3000 ---
0 to ---
10000
--- Yes