Omron OMNUC G User Manual page 305

Pn
Parameter name Setting
No.
Vibration Filter 2
02E Same function as Pn02C.
Setting
Displays the table entry number corresponding to the
frequency of the adaptive filter.
This parameter is set automatically when the adaptive
filter is enabled (i.e., when the Adaptive Filter Selection
(Pn023) is set to a value other than 0), and cannot be
changed.
When the adaptive filter is enabled, this parameter will be
saved in EEPROM approximately every 30 min. If the
adaptive filter is enabled the next time the power supply is
Adaptive Filter
turned ON, adaptive operation will start with the data
02F Table Number
saved in EEPROM as the default value.
Display
To clear this parameter and reset the adaptive operation,
disable the adaptive filter by setting the Adaptive Filter
Selection (Pn023) to 0, and then enable it again.
0 to 4 Filter disabled
5 to 48 Filter enabled
49 to 64 Enable or disable the filter with Pn022
Enables or disables gain switching.
0
Gain Switching
030 Operating Mode
Selection (RT)
1
Sets the trigger for gain switching.
The details depend on the control mode.
For details, refer to 5-16 Gain Switching on page 5-31.
0
1
2
3
Gain Switch
4
031
Setting (RT)
5
6
7
8
9
10
Enabled when the Gain Switch Setting (Pn031) is set to 3,
Gain Switch Time
032 or 5 to 10. Sets the lag time from the trigger detection to
(RT)
actual gain switching when switching from gain 2 to gain 1.
Sets the judgment level to switch between Gain 1 and
Gain Switch Level
Gain 2 when the Gain Switch Setting (Pn031) is set to 3,
033
Setting (RT) 5, 6, 9, or 10. The unit for the setting depends on the
condition set in the Gain Switch Setting (Pn031).
Explanation
Disabled. Uses Gain 1 (Pn010 to Pn014).
PI/P operation is switched from
MECHATROLINK-II.
The gain is switched between Gain 1 (Pn010 to
Pn014) and Gain 2 (Pn018 to Pn01C).
For details, refer to 5-16 Gain Switching on page
5-31.
Always Gain 1
Always Gain 2
Switching from the network
Amount of change in torque command
Always Gain 1
Speed command
Amount of position deviation
Position command pulses received
Positioning Completed Signal (INP) OFF
Actual Servomotor speed
Combination of position command pulses re-
ceived and speed
5-26 User Parameters
Default Setting
Unit
setting range
×
0.1
−200 to 2000 B
0
Hz
0 --- 0 to 64
1 --- 0 to 1
2 --- 0 to 10
×
166
30 0 to 10000
μ
s
600 --- 0 to 20000
5-72
R
5
B
B
B
B