Omron R88D-KTA5L User Manual page 449

Pn110
Speed Feed-forward Amount
Setting
0 to 1,000
range
Set the feed-forward amount. Increasing the set value decreases the position error and increases
the responsiveness. Overshooting, however, will occur more easily.
Pn111
Speed Feed-forward Command Filter
Setting
0 to 6,400
range
 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.
Pn112
Torque Feed-forward Amount
Setting
0 to 1,000
range
Set the feed-forward amount in the torque loop. Increasing the set value decreases the position
error and increases the responsiveness. Overshooting, however, will occur more easily.
Pn113
Torque Feed-forward Command Filter
Setting
0 to 6,400
range
 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.
Pn114
Gain Switching Input Operating Mode Selection
Setting
0 or 1
range
Explanation of Set Values
Set
value
0 Gain 1 (PI/P switching enabled)
1 Gain 1/gain 2 switching available
 Select either PI/P operation switching or gain 1/gain 2 switching.
PI/P operation switching is performed using gain switching (GSEL: CN1 pin 27). PI is not changed,
however, if the Torque Limit Selection (Pn521) is set to 3.
Gain input
GSEL OFF
GSEL ON
 For information on switching conditions between gain 1 and gain 2, refer to "6-7 Gain Switching
Function" (P.6-24).
If autotuning is enabled, feedforward gain and filter are set at a fixed value.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Unit 0.1%
Unit 0.01 ms
Unit 0.1%
Unit 0.01 ms
−
Unit
Description
Speed loop operation
PI operation
P operation
8-2 Gain Parameters
Position Fully-closed
Default Power OFF
300
setting and ON
Position Fully-closed
Default Power OFF
50
setting and ON
Position Speed Fully-closed
Default Power OFF
0
setting and ON
Position Speed Fully-closed
Default Power OFF
0
setting and ON
Default Power OFF
1
setting and ON
−
−
−
−
8
All
−
8-12