Omron R88D-KTA5L User Manual page 448

8-2 Gain Parameters
Pn103
Speed Feedback Filter Time Constant
Setting
0 to 5
range
 Set the time constant for the low pass filter (LPF) after speed detection to one of 6 levels (0 to 5).
 Increasing the set value increases the time constant and decreases the noise generated by the
motor. Responsiveness, however, also decreases.
 Normally, use the default set value.
Pn104
Torque Command Filter Time Constant
Setting
0 to 2,500
range
 The default setting is 126 for 200-V Servo Drives of 1 kW or higher, and 400-V Servo Drives.
 Set the time constant for the first-order lag filter inserted into the torque command.
 This parameter may be effective in suppressing vibration due to torsion resonance.
Pn105
Position Loop Gain 2
Setting
1 to 30,000
range
 The default setting is 380 for 200-V Servo Drives of 1 kW or higher, and 400-V Servo Drives.
 Set the responsiveness of the position control system for the second position loop.
Pn106
Speed Loop Gain 2
Setting
1 to 32,767
range
 The default setting is 180 for 200-V Servo Drives of 1 kW or higher, and 400-V Servo Drives.
8
Set the responsiveness of the second speed loop.
Pn107
Speed Loop Integral Time Constant 2
Setting
1 to 10,000
range
 Set the second speed loop integral time constant.
Pn108
Speed Feedback Filter Time Constant 2
Setting
0 to 5
range
 Set the second speed feedback filter.
Pn109
Torque Command Filter Time Constant 2
Setting
0 to 2,500
range
 The default setting is 126 for 200-V Servo Drives of 1 kW or higher, and 400-V Servo Drives.
 Set the second torque filter time constant.
The parameters from Pn105 to Pn109 are the gain and time constants to be selected when the
Gain Switching Input Operating Mode Selection (Pn114) is enabled.
The gains are switched according to the condition set in the Gain Switching Mode (Pn115, Pn120 and Pn124).
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 parameter is automatically changed by executing realtime autotuning function. To set it
manually, set the Realtime Autotuning Mode Selection (Pn002) to 0.
8-11
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Unit
Unit 0.01 ms
Unit 0.1/s
Unit 0.1 Hz
Unit 0.1 ms
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Unit
Unit 0.01 ms
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Default Power OFF
0
setting and ON
Default Power OFF
84 *
setting and ON
Position Fully-closed
Default Power OFF
570 *
setting and ON
Default Power OFF
1*
setting and ON
Default Power OFF
10000
setting and ON
Default Power OFF
0
setting and ON
Default Power OFF
84 *
setting and ON
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