Omron OMNUC G5 Series User Manual page 288

9-2 Gain Settings
Speed Loop Gain 2
3106 hex
Setting
range
Size
*1. The default setting is 180 for a Drive with 200 V and 1 kW or greater, or with 400 V.
Set the responsiveness of the second speed loop.
Speed Loop Integral Time Constant 2
3107 hex
Setting
range
Size
Set the second speed loop integral time constant.
Speed Feedback Filter Time Constant 2
3108 hex
Setting
range
Size
Set the second speed feedback filter.
Torque Command Filter Time Constant 2
3109 hex
Setting
range
Size
*1. The default setting is 126 for a Drive with 200 V and 1 kW or greater, or with 400 V.
9
Set the second torque filter time constant.
The objects from 3105 to 3109 hex are the gain and time constants to be selected when the Gain
Switching Input Operating Mode Selection (3114 hex) is enabled.
The gain is switched according to the condition set in the Switching Mode (3115 hex, 3120 hex,
and 3124 hex).
If the mechanical system inertia changes greatly or if you want to change the responsiveness
depending on whether the motor is rotating or being stopped, you can achieve the appropriate
control by setting the gains and time constants beforehand for each of these conditions, and
switching them according to the condition.
This object is automatically changed by executing realtime autotuning function. To set it manually,
set the Realtime Autotuning Mode Selection (3002 hex) to 0.
Speed Feed-forward Gain
3110 hex
Setting
range
Size
Set the feed-forward gain.
Increasing the set value decreases the position error and increases the responsiveness.
Overshooting, however, will occur more easily.
Refer to 11-11 Feed-forward Function on page 11-29.
9-9
1 to 32767 Unit
2 bytes (INT16)
1 to 10000 Unit
2 bytes (INT16)
0 to 5 Unit
2 bytes (INT16)
0 to 2500 Unit
2 bytes (INT16)
0 to 1000 Unit
2 bytes (INT16)
OMNUC G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Default
0.1 Hz
setting
Access RW
Default
0.1 ms
setting
Access RW
Default
−
setting
Access RW
Default
0.01 ms
setting
Access RW
Default
0.1%
setting
Access RW
All
Data
*1
270
attribute
PDO map Not possible.
All
Data
10000
attribute
PDO map Not possible.
All
Data
0
attribute
PDO map Not possible.
All
Data
*1
84
attribute
PDO map Not possible.
csp
Data
300
attribute
PDO map Not possible.
B
B
B
B
B