Omron OMNUC G User Manual page 300

5-26 User Parameters
Pn
Parameter name Setting
No.
Prohibit
Parameter
00A
Changes via
Network
Operation Switch
When Using
5 00B
Absolute
Encoder
RS-232 Baud
00C
Rate Setting
00D Reserved
Reserved
00E
00F Reserved
Position Loop
010
Gain (RT)
Speed Loop
011
Gain (RT)
Speed Loop
Integration Time
012
Constant (RT)
Speed Feedback
Filter Time
013
Constant (RT)
5-67
Explanation
Allows/prohibits parameter changes via the network.
Allows parameter changes from the host controller
0
via the network.
Prohibits parameter changes from the host
controller via the network.
1 Attempting to change a parameter via the network
when prohibited triggers the Command Warning
(warning code 95h).
Selects how the an absolute encoder is used.
This parameter is disabled when using an incremental
encoder.
0 Use as an absolute encoder.
Use an absolute encoder as an incremental
1
encoder.
Use as an absolute encoder but ignore absolute
2
multi-turn counter overflow alarm (alarm code 41).
Sets the baud rate for RS-232 communications.
0 2,400 bps
1 4,800 bps
2 9,600 bps
3 19,200 bps
4 38,400 bps
5 57,600 bps
Do not change.
Do not change.
Do not change.
Sets the position loop responsiveness.
Increasing the gain increases position control responsive-
ness and shortens stabilization time.
Oscillation or overshoot will occur if set too high. Adjust for
optimum responsiveness.
Sets the speed loop responsiveness.
If the Inertia Ratio (Pn020) is set correctly, this parameter
is set to the Servomotor response frequency.
Increasing the gain increases the speed control respon-
siveness, but too much gain may cause oscillating.
Small gain may cause overshoot in the speed response.
Adjust for optimum responsiveness.
Adjusts the speed loop integration time constant.
Set a large value for large load inertia.
Decrease the setting for fast response with small
inertia.
Set 9999 to stop integration operation while retaining the
integration value. A setting of 10000 disables integration.
Sets the type of speed detection filter time constant.
Normally, use a setting of 0.
Increasing the value reduces the noise of the Servomotor
but also reduces its responsiveness.
This parameter is disabled if the Instantaneous Speed
Observer Setting (Pn027) is enabled.
Default Setting
Unit
setting range
0 --- 0 to 1
0 --- 0 to 2
2 --- 0 to 5
0 --- ---
0 --- ---
0 --- ---
×
0.1
400 0 to 30000
[1/s]
×
0.1
500 1 to 30000
Hz
×
0.1
200 1 to 10000
ms
0 --- 0 to 5
A
C
C
---
---
---
B
B
B
B