Omron OMNUC W Series User Manual page 237

Operation
Para- Para- Digit
meter meter No.
No. name
Pn004 Not ---
used.
Pn005 Not ---
used.
H Servo Gain Parameters (From Pn100)
Para- Parameter
meter name
Digit
No.
No.
Pn100 Speed loop Adjusts speed loop responsiveness.
gain
Pn101 Speed loop Speed loop integral time constant
integration
constant
Pn102 Position Adjusts position loop responsiveness.
loop gain
Pn103 Inertia ratio Set using the ratio between the machine system
inertia and the Servomotor rotor inertia.
Pn104 Speed loop Adjusts speed loop responsiveness (enabled by gain
gain 2 switching input).
Pn105 Speed loop Speed loop integral time constant (enabled by gain
integration switching input).
constant 2
Pn106 Position Adjusts position loop responsiveness (enabled by
loop gain 2 gain switching input).
Pn107 Bias Sets position control bias.
rotational
speed
Pn108 Bias Sets the position control bias operation start using
addition deviation counter pulse width.
band
Pn109 Feed-for- Position control feed-forward compensation value
ward
amount
Pn10A Feed-for- Sets position control feed-forward command filter.
ward com-
mand filter
Pn10b Speed 0
control
setting g
1
2, 3
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Name Setting Explanation
--- (Do not change setting.)
--- (Do not change setting.)
Explanation (See note 1.)
Name Explanation (See
Setting
P control 0 Sets internal torque
switching
command value
conditions conditions (Pn10C).
1 Sets speed
command value
conditions (Pn10d).
2 Sets acceleration
command value
conditions (Pn10E)
3 Sets deviation pulse
value conditions
(Pn10F)
4 No P control
switching function
Speed
0 PI control
control loop control loop
1 P control
switching
Not used. 0 (Do not change
setting.)
Default
setting
100/200 V
0000
0000
Default Default
setting tti setting
100/200 V 400 V
note 2.)
80 40
2000 2000
40 40
300 0
80 40
2000 2000
40 40
0 0
7 7
0 0
0 0
004 000
Chapter 4
Default Unit Setting
setting range
400 V
0000 --- ---
0000 --- ---
Unit Setting g
tti range
Hz 1 to 2000
x 0.01 ms 15 to
51200
1/s 1 to 2000
% 0 to
10000
Hz 1 to 2000
x 0.01 ms 15 to
51200
1/s 1 to 2000
r/min 0 to 450
Command 0 to 250
unit
% 0 to 100
x 0.01 ms 0 to 6400
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Restart
power?
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Restart
power? ?
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Yes
4-21