Omron OMNUC R88D-WT15HF User Manual page 328

Operation
• Sets the filter time constant (primary filter) for speed feedback.
• Set this parameter if the speed loop gain cannot be raised due to factors such as mechanical system
vibration.
Note When speed feedback filter is set, online auto-tuning does not operate normally.
Pn309 Not used.
Setting ---
range
Note 1. Do not change the setting.
Note 2. This new parameter is supported by Servo Drivers with software version "r.0037."
H Torque Control Parameters (From Pn400)
Pn400 Torque command scale (All operation modes)
Setting 10 to 100
range
• This parameter sets the relationship between TREF (torque command input) voltage and output
torque.
• Set the TREF voltage to output the rated torque.
• The default setting is for a rated torque at TREF 3 V.
Note TREF voltage functions as an input voltage according to the control mode and parameter set-
tings, as shown below.
S Torque control: torque command input
S Position and speed control: analog torque limit (when Pn002.0 = 1 or 3).
Torque feed-forward input (when Pn002.0 = 2)
Pn401 Torque command filter time constant (All operation modes)
Setting 0 to 65535
range
• Sets the (primary) filter time constant for the internal torque command.
When the mechanical resonance frequency is within the response frequency of the servo loop, Servo-
motor vibration will occur. In order to prevent this from occurring, set the torque command filter time
constant.
The relationship between the filter time constant and the cut-off frequency can be found by means of the
following formula:
fc (Hz) = 1 / (2
Set the cut-off frequency to below the mechanical resonance frequency.
• Also make this setting if the Servomotor rotation speed is fluctuating in Torque Control Mode due to
TREF voltage noise. (Set the value as low as possible to minimize the effects of noise. If the setting is
too high, responsiveness will be lowered.)
Pn402 Forward torque limit (All operation modes)
Setting 0 to 800
range
Unit ---
Unit 0.1 V/rated
torque
Unit x 0.01 ms
) : = Filter time constant (s), fc: cut-off frequency.
Τ Τ
Π
Unit %
default 60
setting
Default 30
setting
Default 40
setting
Default 350
setting
Chapter 4
Restart No
power?
Restart No
power?
Restart No
power?
Restart No
power?
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