Omron OMNUC G User Manual page 301

Pn
Parameter name Setting
No.
Torque
Adjusts the first-order lag filter time constant for the torque
Command
014 command section.
Filter Time
The torque filter setting may reduce machine vibration.
Constant (RT)
Speed Feed-
Sets the speed feed-forward amount.
015 forward Amount This parameter is particularly useful when fast response is
(RT)
required.
Feed-forward
Sets the time constant for the speed feed-forward
016 Filter Time
first-order lag filter.
Constant (RT)
017 Reserved Do not change.
Position Loop
Sets the position loop gain when using gain 2 switching.
018
Gain 2 (RT) Same function as Pn010.
Speed Loop
Sets the speed loop gain when using gain 2 switching.
019
Gain 2 (RT) Same function as Pn011.
Sets the speed loop integration time constant when using
Speed Loop gain 2 switching.
Integration Time
01A Same function as Pn012.
Constant 2 (RT) Set 9999 to stop integration operation while retaining the
integration value. Setting 10000 disables integration.
Sets the speed detection filter when using gain 2 switch-
Speed Feedback
ing.
01B Filter Time Same function as Pn013. Normally, use a setting of 0.
Constant 2 (RT)
When Instantaneous Speed Observer Setting (Pn027) is
enabled, this parameter will be disabled.
Torque
Sets the first-order lag filter time constant for the torque
Command
01C command section when using gain 2 switching.
Filter Time
Same function as Pn014.
Constant 2 (RT)
Sets the notch frequency of notch filter 1 for resonance
suppression.
This filter must be matched with the resonance
frequency of the load.
Notch Filter 1
01D
Frequency
100 to
1499
1500 Filter disabled
Selects the notch width of notch filter 1 for resonance sup-
Notch Filter 1
01E pression.
Width
Normally, use a setting of 2.
Reserved
01F Do not change.
Sets the load inertia as a percentage of the Servomotor
rotor inertia.
020 Inertia Ratio (RT) Setting [%] = (Load inertia / Rotor inertia)
The inertia ratio estimated during realtime autotuning is
stored in the EEPROM every 30 minutes.
Explanation
Filter enabled
5-26 User Parameters
Default
Unit
setting
×
0.01
80
ms
×
0.1
300
%
×
0.01
100
ms
0 ---
×
0.1
200
[1/s]
×
0.1
800
Hz
×
0.1
500
ms
0 ---
×
0.01
100
ms
1500 Hz
2 ---
0 ---
×
100 300 %
Setting
range
0 to 2500 B
0 to 1000 B
0 to 6400 B
--- ---
5
0 to 30000 B
1 to 30000 B
1 to 10000 B
0 to 5 B
0 to 2500 B
100 to 1500 B
0 to 4 B
--- ---
0 to 10000 B
5-68