Omron OMNUC G5 Series User Manual page 289

3111 hex
Speed Feed-forward Command Filter
Setting
0 to 6400
range
Size 2 bytes (INT16)
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 11-11 Feed-forward Function on page 11-29.
3112 hex
Torque Feed-forward Gain
Setting
0 to 1000
range
Size 2 bytes (INT16)
Set the feed-forward gain in torque control. 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.
3113 hex
Torque Feed-forward Command Filter
Setting
0 to 6400
range
Size 2 bytes (INT16)
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 11-11 Feed-forward Function on page 11-29.
Gain Switching Input Operating Mode Selection
3114 hex
Setting
0 to 1
range
Size 2 bytes (INT16)
Select either PI/P operation switching or gain 1/gain 2 switching.
The PI/P operation switching is performed with the Speed Loop PI/P Control command in
EtherCAT communications.
Refer to 7-9 Gain Switching 3 Function on page 7-30 for the Gain 1/Gain 2 switching.
Explanation of Set Values
Set
value
0 Gain 1 (PI/P switching enabled)
1 Gain 1/gain 2 switching available
OMNUC G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Default
Unit 0.01 ms
Access
Unit 0.1%
Access
Default
Unit 0.01 ms
Access
Default
−
Unit
setting
Access
Description
9-2 Gain Settings
50
setting attribute
RW PDO map Not possible.
Default
0
setting attribute
RW PDO map Not possible.
0
setting attribute
RW PDO map Not possible.
1
attribute
RW PDO map Not possible.
csp
Data
B
csp
Data
B
csp
Data
B
9
All
Data
B
9-10