Omron OMNUC W Series User Manual page 321

Operation
H Parameters Requiring Settings
Parameter Parameter name
No.
Pn50A.0 Input signal
selection 1
Input signal
selection mode
Pn50d.2 Input signal
selection 4
GSEL signal
selection
Pn104 No. 2 speed loop
gain
Pn105 No. 2 speed loop
Differential time
constant
Pn106 No. 2 position
loop gain
• Adjust Pn104, Pn 105, and Pn 106 when GSEL is ON according to 4-7-2 Manual Tuning. Fn001 (rigid-
ity setting for online auto-tuning) is not performed on No. 2 gain, however, so set the initial values for
adjustment referring to the above table.
4-8-6 Notch Filter (Position, Speed, Internally-set Speed
Control)
H Functions
• You can set the notch filter for the internal torque command (commands to the current loop).
• Set the resonance frequency in Pn409 (notch filter frequency) to prevent machine resonance. You can
reduce positioning time by setting a high speed loop gain.
H Parameters Requiring Settings
Parameter Parameter name
No.
Pn408.0 Torque command
setting
Notch filter
function selection
Pn409 Notch filter
frequency
H Setting Procedure
• Measure the torque resonance frequency by increasing the Pn100 (speed loop gain) with the machin-
ery vibrating slightly. Use the OMNUC W-series Servo Driver Computer Monitoring Software to mea-
sure the analog monitor (torque command monitor) output.
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Explanation
GSEL signal is not allocated in the default settings.
Set Pn50A.0 to 1 (user-defined settings).
Allocate GSEL signal.
Set the speed loop gain for when GSEL is ON.
Set the speed loop differential time constant for
when GSEL is ON.
Set the position loop gain for when GSEL is ON.
Explanation
To use the notch filter function, set Pn408.0 to 1
(notch filter ON).
Set the machine resonance frequency.
Chapter 4
Reference
4-4-3 Important
Parameters
4-4-4 Parameter
Details e a s
Reference
4-4-4
Parameter
Details
4-105