Omron SMARTSTEP 2 SERIES User Manual page 199

Servo Gain Parameters
Pn Parameter
No. name
10 Position Loop Set to adjust the position control system respon-
*1
Gain siveness.
11 Speed Loop Set to adjust the speed loop responsiveness.
*1
Gain
12 Speed Loop Set to adjust the speed loop integral time constant.
Integration
Time Constant
*1
13 Speed Feed- The encoder signal is converted to the speed sig-
back Filter Time nal via the low pass filter.
*1
Constant
14 Torque Set to adjust the primary lag filter time constant for
Command Filter the torque command section.
Time Constant
*1
15 Feed-forward Set the position control feed-forward compensa-
*1
Amount tion value.
16 Feed-forward Set the position control feed-forward command fil-
Command Filter ter.
*1
17 Not used. (Do not change setting.)
18 Position Loop Set to adjust the position control system respon-
*1
Gain 2 siveness.
19 Speed Loop Set to adjust the speed loop responsiveness.
*1
Gain 2
1A Speed Loop Set to adjust the speed loop integral time constant.
Integration
Time Constant
*1
2
1B Speed Feed- The encoder signal is converted to the speed sig-
back Filter Time nal via the low pass filter.
*1
Constant 2
1C Torque Set to adjust the primary lag filter time constant for
Command Filter the torque command section.
Time Constant
*1
2
1D Notch Filter 1 Set the notch frequency of the resonance sup-
Frequency pression notch filter.
1E Notch Filter 1 Set the width to one of five levels for the reso-
Width nance suppression notch filter. Normally, use the
default setting.
1F Not used. (Do not change setting.)
*1
20 Inertia Ratio Set the ratio between the mechanical system iner-
tia and the Servomotor rotor inertia.
Explanation
5-10 User Parameters
Default Setting
Unit
setting range
0 to
40 1/s
32767
1 to
60 Hz
3500
1 to
20 ms
1000
0 --- 0 to 5
0 to
100 0.01 ms
2500
−2000
300 0.1% to
2000
0 to
100 0.01 ms
6400
0 --- ---
0 to
20 1/s
32767
1 to
80 Hz
3500
1 to
50 ms
1000
0 --- 0 to 5
0 to
100 0.01 ms
2500
100 to
1500 Hz
1500
2 --- 0 to 4
0 --- ---
0 to
300 %
10000
Power
OFF→
ON
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5-22