Omron R88D-KTA5L User Manual page 607

Gain Parameters
Parameter
name
100 Position Loop Gain Set the position loop gain 1.
101 Speed Loop Gain Set the speed loop gain 1.
Speed Loop Integral
102
Time Constant
Speed Feedback
103
Filter Time Constant
Torque Command
104
Filter Time Constant
105 Position Loop Gain 2 Set the position loop gain 2.
106 Speed Loop Gain 2 Set the speed loop gain 2.
Speed Loop
107 Integral Time
Constant 2
Speed
Feedback Filter
108
Time Constant
2
Torque
Command Filter
109
Time Constant
2
Speed Feed-
110
forward Amount
Speed Feed-
111 forward
Command Filter
Torque Feed-
112
forward Amount
Torque Feed-
113 forward
Command Filter
Gain Switching
114 Input Operating
Mode Selection
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Description
Set the speed loop integral time constant 1.
The speed feedback filter 1 can be set to one
of 6 values.
Set the time constant for the torque filter 1.
Set the speed loop integral time constant 2.
The speed feedback filter 2 can be set to one
of 6 values.
Set the time constant for the torque filter 2.
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.
Execute optimum tuning using the gain
switching function.
0 Gain 1 (PI/P switching enabled)
1 Gain 1 and gain 2 switching available
12-2 Parameter List
Default Setting
Unit
setting range
See
0 to 30,000 −
0.1/s
Note 1
See
0.1 Hz 1 to 32,767 −
Note 2
See 1 to
0.1 ms
Note 3 10,000
−
0 0 to 5
See 0.01 0 to
Note 4 ms 2,500
See
0 to 30,000 −
0.1/s
Note 5
See
0.1 Hz 1 to 32,767 −
Note 6
1 to
10000 0.1 ms
10,000
−
0 0 to 5
See 0.01 0 to
Note 7 ms 2,500
0 to
300 0.1%
1,000
0.01 0 to
50
ms 6,400
0 to
0 0.1%
1,000
0.01 0 to
0
ms 6,400
−
1 0 or 1
12-14
Power
supply
OFF to
ON
−
−
−
−
−
−
−
−
12
−
−
−