Omron OMNUC G User Manual page 417

Pn
Parameter name Setting
No.
Sets the speed loop responsiveness.
If the Inertia Ratio (Pn020) is set correctly, this
Speed Loop Gain
011
parameter is set to the Servomotor response
(RT)
frequency.
Adjusts the speed loop integration time constant.
Speed Loop
Set 9999 to stop integration operation while
012 Integration Time
retaining the integration value. A Setting of 10000
Constant (RT)
disables integration.
Speed
Feedback Filter Sets the type of speed detection filter time constant.
013
Time Constant Normally, use a setting of 0.
(RT)
Torque Adjusts the first-order lag filter time constant for the
Command torque command section.
014
Filter Time The torque filter setting may reduce machine
Constant (RT) vibration.
Speed Feed- Sets the speed feed-forward amount.
015 forward Amount This parameter is particularly useful when fast re-
(RT) sponse is 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
018
Gain 2 (RT) switching.
Speed Loop Sets the speed loop gain when using gain 2 switch-
019
Gain 2 (RT) ing.
Sets the speed loop integration time constant when
using gain 2 switching.
Speed Loop
Same function as Pn012.
01A Integration Time
Set 9999 to stop integration operation while
Constant 2 (RT)
retaining the integration value. Setting 10000
disables integration.
Sets the speed detection filter when using gain 2
Speed
switching.
Feedback Filter
01B Normally, use a setting of 0.
Time Constant 2
When Instantaneous Speed Observer Setting
(RT)
(Pn027) is enabled, this parameter will be disabled.
Torque
Sets the first-order lag filter time constant for the
Command Filter
01C torque command section when using gain 2
Time Constant 2
switching.
(RT)
Sets the notch frequency of notch filter 1 for
resonance suppression.
Notch Filter 1
100 to
01D
Frequency
1499
1500
Selects the notch width of notch filter 1 for
Notch Filter 1
01E resonance suppression.
Width
Normally, use a setting of 2.
01F Reserved Do not change.
Selects the load inertia as a percentage of the
020 Inertia Ratio (RT)
Servomotor rotor inertia.
Explanation
Filter enabled
Filter disabled
9-1 Parameter Tables
Default Setting
Unit
Setting Range
×
0.1 1 to
500 B
Hz 30000
×
0.1 1 to
200 B
ms 10000
0 --- 0 to 5 B
×
0.01
80 0 to 2500 B
ms
×
0.1
300 0 to 1000 B
%
×
0.01
100 0 to 6400 B
ms
0 --- --- ---
×
0.1 0 to
200 B
[1/s] 30000
×
0.1 1 to
800 B
Hz 30000
×
0.1 1 to
500 B
ms 10000
0 --- 0 to 5 B
×
0.01
100 0 to 2500 B
ms
100 to
1500 Hz B
1500
2 --- 0 to 4 B
0 --- --- ---
0 to
300 % B
10000
Set
value
9
9-6