Omron OMNUC W Series User Manual page 263

Operation
Note 1. Set Pn107 to 0 if not using bias function.
Note 2. If the bias rotation speed is too great, the Servomotor operation may become unstable. The
optimum value will vary depending on the load, gain, and bias addition range, so check and
adjust the Servomotor response. (Gradually increase the value, starting from Pn107 = 0.)
Bias function operation
Servomotor
speed
(speed monitor)
Pn109 Feed-forward amount (Position)
Setting 0 to 100
range
• Sets the feed-forward compensation value during positioning.
• When performing feed-forward compensation, the effective servo gain rises, improving responsive-
ness. There is almost no effect, however, on systems where the position loop gain is sufficiently high.
• Use to shorten positioning time.
Note Setting a high value may result in machine vibration. Set the feed-forward amount for general
machinery to 80% maximum. (Check and adjust machine response.)
Pn10A Feed-forward command filter (Position)
Setting 0 to 6400
range
• Sets the feed-forward primary (lag) command filter during position control.
• If the positioning completed signal is interrupted (i.e., repeatedly turns ON and OFF) because of per-
forming feed-forward compensation, and a speed overshoot is generated, alleviate the problem by
setting the primary lag filter.
D Speed Control Setting (Pn10b: Default Setting 0004)
Pn10b.0 Speed control setting --- P control switching conditions (Position, speed, internally-set speed
control)
Setting 0 to 4
range
Setting Explanation
Setting
0 Internal torque command (Pn10C) condition (Position, speed, internally-set speed control)
1 Speed command (Pn10d) condition (Position, speed, internally-set speed control)
2 Acceleration command (Pn10E) condition (Position, speed, internally-set speed control)
3 Deviation pulse (Pn10F) condition (Position)
4 P control switching function not used. (Position, speed, internally-set speed control)
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Speed command
(command pulse fre-
quency)
Pn107 added to speed
command when residual
pulses exceed Pn108
Unit %
Unit x 0.01 ms
Unit ---
Bias function not used.
Bias function used.
Default 0
setting
Default 0
setting
Default 4
setting
Explanation
Chapter 4
Time
Restart No
power?
Restart No
power?
Restart Yes
power?
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