Omron OMNUC G User Manual page 304

5-26 User Parameters
Pn
Parameter name Setting
No.
Instantaneous
027 Speed Observer
Setting (RT)
5
Notch Filter 2
028
Frequency
Notch Filter 2
029
Width
Notch Filter 2
02A
Depth
Vibration
02B
Frequency 1
Vibration Filter 1
02C
Setting
Vibration
02D
Frequency 2
5-71
Explanation
The Instantaneous Speed Observer improves speed de-
tection accuracy, thereby improving responsiveness and
reducing vibration when stopping.
When the instantaneous speed observer is enabled, both
Speed Feedback Filter Time Constant (Pn013) and Speed
Feedback Filter Time Constant 2 (Pn01B) are disabled.
This feature cannot be used with realtime autotuning.
For details, refer to 5-24 Instantaneous Speed Observer
on page 5-48.
0 Disabled
1 Enabled
Sets the notch frequency of notch filter 2 for resonance
suppression.
This parameter must be matched with the resonance
frequency of the load.
100 to
Filter enabled
1499
1500 Filter disabled
Selects the notch width of notch filter 2 for resonance
suppression.
Increasing the value increases the notch width.
Selects the notch depth of notch filter 2 for resonance
suppression.
Increasing this value decreases the notch depth, thereby
reducing the phase lag.
Sets the vibration frequency 1 for damping control to
suppress vibration at the end of the load.
Measure and set the frequency of the vibration.
The frequency setting range depends on the filter type
selected in the Vibration Filter Selection (Pn024).
Normal type
Setting frequency range: 10.0 to 200.0 Hz (Disabled
when set to 0 to 99)
Low-pass type
Setting frequency range: 1.0 to 200.0 Hz (Disabled when
set to 0 to 9)
For details, refer to 5-25 Damping Control on page 5-50.
When setting Vibration Frequency 1 (Pn02B), reduce this
setting if torque saturation occurs, or increase it to make
the movement faster.
Normally, use a setting of 0.
The setting range depends on the filter type selected in the
Vibration Filter Selection (Pn024), and if Vibration Filter 1
is enabled, the ranges are as follows:
Note This parameter is disabled when Vibration Filter 1
is disabled.
Normal type
≤
Setting range: 100 Pn02B + Pn02C
or 2000
Low-pass type
≤
Setting range: 10 Pn02B + Pn02C
Same function as Pn02B.
Default
setting
0
1500
2
0
0
0
≤ ×
Pn02B 2
≤ ×
Pn02B 6
0
Setting
Unit
range
--- 0 to 1 B
Hz 100 to 1500 B
--- 0 to 4 B
--- 0 to 99 B
×
0.1
0 to 2000 B
Hz
×
0.1
−200 to 2000 B
Hz
×
0.1
0 to 2000 B
Hz