Omron SMARTSTEP 2 SERIES User Manual page 215

Torque Command Filter Time Constant
Pn14
Setting range 0 to 2500
Set this parameter to adjust the primary lag filter time constant for the torque command.
This parameter is automatically changed by executing realtime autotuning function. To set it
manually, set the Realtime Autotuning Mode Selection (Pn21) to 0.
Feed-forward Amount
Pn15
−2000 to 2000
Setting range
Set the feed-forward compensation value during position control.
When performing feed-forward compensation, the effective servo gain increases, improving
responsiveness. There is almost no effect, however, on systems whose position loop gain is
sufficiently high.
Use this parameter to shorten positioning time.
Setting a high value may result in machine vibration. Set the feed-forward amount for general
machinery to 80% maximum. (Make adjustments while checking machine response.)
This parameter is automatically changed by executing realtime autotuning function. To set it
manually, set the Realtime Autotuning Mode Selection (Pn21) to 0.
Feed-forward Command Filter
Pn16
Setting range 0 to 6400
Set the feed-forward (primary lag) command filter to use during position control.
If the Positioning Completed Signal (INP) is interrupted (i.e., repeatedly turns ON and OFF)
because of feed-forward compensation, and speed overshooting occurs, the problem may be
solved by setting the primary lag filter.
This parameter is automatically changed by executing realtime autotuning function. To set it
manually, set the Realtime Autotuning Mode Selection (Pn21) to 0.
Pn17 Not used. (Do not change setting.)
× 0.01 ms
Unit Default setting
× 0.1%
Unit Default setting
× 0.01 ms
Unit Default setting
5-10 User Parameters
All modes
Power OFF → ON
100 ---
Position
300 Power OFF → ON ---
Position
Power OFF → ON
100 ---
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5