Omron R88M-W60010T User Manual page 388

Appendix
Param- Parameter
eter No. name
Digit
No.
Pn151 Predictive Adjusts acceleration and deceleration response for predic-
control tive control.
accelera-
tion/deceler-
ation gain
Pn152 Predictive Adjusts position deviation for predictive control.
control
weighting
ratio
Pn1A0 Servo rigid- Adjusts the Servo rigidity for the No. 1 gain.
ity
Pn1A1 Servo rigid- Adjusts the Servo rigidity for the No. 2 gain.
ity 2
Pn1A2 Speed feed- Sets the filter time constant for No. 1 gain speed feedback.
back filter
time con-
stant
Pn1A3 Speed feed- Sets the filter time constant for No. 2 gain speed feedback.
back filter
time con-
stant 2
Pn1A4 Torque com- Sets the filter time constant for the torque command.
mand filter
time con-
stant 2
Pn1A7 Utility con- 0
trol switches
1
2
3
Pn1A9 Utility inte- Adjusts the auxiliary integral response.
gral gain
Pn1AA Position pro- Adjusts the position proportional response.
portional
gain
Pn1AB Speed inte- Adjusts the speed integral response.
gral gain
Pn1AC Speed pro- Adjusts the speed proportional response.
portional
gain
Pn1B5 Not used. (Do not change setting.)
6-8
Explanation (See note 1.)
Name Setting Explanation (See note 2.)
Integral com- 0 Integral compensation pro-
pensation cessing not executed.
processing
1 Integral compensation pro-
cessing executed.
2 Integral compensation is
executed for No. 1 gain
and not for No. 2 gain for
less-deviation gain switch-
ing.
3 Integral compensation is
executed for No. 2 gain
and not for No. 1 gain for
less-deviation gain switch-
ing.
Not used. 2 (Do not change setting.)
Not used. 1 (Do not change setting.)
Not used. 1 (Do not change setting.)
Chapter 6
Default Unit Setting
setting range
100 % 0 to 300 ---
100 % 0 to 300 ---
60 % 1 to 500 ---
60 % 1 to 500 ---
× 0.01 ms
72 30 to
3200
× 0.01 ms
72 30 to
3200
× 0.01 ms
36 0 to
2500
1121 --- ---
37 Hz 0 to 500 ---
60 Hz 0 to 500 ---
0 Hz 0 to 500 ---
120 Hz 0 to
2000
150 --- ---
Restart Set
power? value
---
---
---
--- 112@
---
--- 150