Omron OMNUC G5 R88M-K series User Manual page 286

8-2 Gain Parameters
Pn110
Speed Feed-forward Amount
Setting
range
Set the feed-forward amount.
Increasing the set value decreases the position error and increases the responsiveness.
Overshooting, however, will occur more easily.
Refer to "10-11 Feed-forward Function (P.10-36)".
Pn111
Speed Feed-forward Command Filter
Setting
range
 Set the time constant for the first-order lag filter inserted into the feed forward.
Setting the filter may improve operation if speed overshooting occurs or the noise during operation
is large when the feed forward is set high.
Refer to "10-11 Feed-forward Function (P.10-36)".
Pn112
Torque Feed-forward Amount
Setting
range
Set the feed-forward amount in torque control. Increasing the set value decreases the position
error and increases the responsiveness. Overshooting, however, will occur more easily.
Refer to "10-11 Feed-forward Function (P.10-36)".
Pn113
Torque Feed-forward Command Filter
8 Setting
range
 Set the time constant for the first-order lag filter inserted into the feed forward.
 Setting the filter may improve operation if speed overshooting occurs or the noise during operation
is large when the feed forward is set high.
Refer to "10-11 Feed-forward Function (P.10-36)".
Pn114
GAIN SWITCHING INPUT OPERATING mode Selection
Setting
range
 Select either PI/P operation switching or gain 1/gain 2 switching.
 The PI/P operation switching is the switching made by the speed loop PI/P control command in
MECHATROLINK-II communications.
 Refer to "6-9 Gain Switching Function (P.6-25)" for the Gain 1/Gain 2 switching.
Explanation of Set Values
value
8-11
0 to 1000 Unit
0 to 6400 Unit
0 to 1000 Unit
0 to 6400 Unit
0 to 1 Unit
Set
0 Gain 1 (PI/P switching enabled)
1 Gain 1/gain 2 switching available
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Default
0.1%
setting
Default
0.01 ms
setting
Position Speed Full closing
Default
0.1%
setting
Position Speed Full closing
Default
0.01 ms
setting
Default

setting
Description
Full closing
Position
Data
300 B
attribute
Full closing
Position
Data
50 B
attribute
Data
0 B
attribute
Data
0 B
attribute
All
Data
1 B
attribute