Omron SMARTSTEP 2 SERIES User Manual page 216

5-10 User Parameters
Pn18
Setting range
Pn19
Setting range
Pn1A
Setting range
Pn1B
Setting range
5
Pn1C
Setting range
These parameters are for the gain and time constants selected when gain switching is enabled in
the Gain Switching Input Operating Mode Selection (Pn30).
The gain is switched according to the condition set in the Gain Switch Setting (Pn31).
If the mechanical system inertia changes greatly or if you want to change the responsiveness while
the Servomotor is rotating and stopped, you can achieve the appropriate control by setting the
gains and time constants beforehand for each condition, and switch between them according to
the condition.
These parameters are automatically changed by executing realtime autotuning function. To set
them manually, set the Realtime Autotuning Mode Selection (Pn21) to 0.
Gain switching function is enabled only for position control. For Internally Set Speed Control,
operation will be performed using gain 1 (Pn11, Pn12, Pn13, and Pn14).
Pn1D
Setting range
Set the notch frequency of the resonance suppression notch filter.
Set this parameter to approximately 10% lower than the resonance frequency of the mechanical
system.
The notch filter function will be disabled if this parameter is set to 1500.
Pn1E
Setting range
Set the width to one of five levels for the resonance suppression notch filter.
Increasing the setting increases the width.
Normally, use the default setting.
Pn1F
5-39
Position Loop Gain 2
0 to 32767 Unit
Speed Loop Gain 2
1 to 3500 Unit
Speed Loop Integration Time Constant 2
1 to 1000 Unit
Speed Feedback Filter Time Constant 2
0 to 5 Unit
Torque Command Filter Time Constant 2
0 to 2500 Unit
Notch Filter 1 Frequency
100 to 1500 Unit
Notch Filter 1 Width
0 to 4 Unit
Not used. (Do not change setting.)
1/s Default setting
Hz Default setting
ms Default setting
--- Default setting
× 0.01 ms
Default setting
Hz Default setting
--- Default setting
Position
Power OFF → ON
20 ---
All modes
80 Power OFF → ON ---
All modes
Power OFF → ON
50 ---
All modes
0 Power OFF → ON ---
All modes
Power OFF → ON
100 ---
All modes
Power OFF → ON
1500 ---
All modes
2 Power OFF → ON ---