Omron OMNUC FND Series User Manual page 187

Operation
PRM No. Parameter name
AJ7. Interrupt gain suppression 0 to 10,000
If any value other than "0" is set for this parameter, the speed loop integral gain will be disabled when
stopped, and the speed loop proportional gain will be suppressed.
As the set value is increased, the amount of suppression is increased and the speed loop proportion
gain is lowered.
Adjust this parameter if the motor makes abnormal noises when stopping.
PRM No. Parameter name
AJ8. Feed-forward gain
This parameter is effective when the position loop gain is low (25 rad/s). It is not effective when the
position loop gain is high.
Feed forward adds to the speed loop directly without going through the error counter, so responsive-
ness is increased without the error counter's integral term being entered (when the load system oper-
ates without reference delays).
Before the feed-forward gain can be adjusted, the position loop must be fully adjusted and the speed
loop must be operating with stability. Check to make sure that these conditions are met before attempt-
ing to adjust the feed-forward gain.
When the feed-forward amount is set too high, the speed reference becomes like a sawtooth wave
and the motor makes abnormal noises. Raise the value gradually, beginning with 0.0 (multiple).
Make the adjustment so that the positioning completion output does not repeatedly turn ON and OFF,
and so that there is no speed overshooting.
PRM No. Parameter name
AJ9. Current reference filter
This parameter specifies the current reference cut-off frequency.
Gradually lower this value if vibration occurs due to a mechanical resonance frequency.
Position data
creation area
3-74
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Setting range
Setting range
0.0 to 2.0
Setting range
400 to 20,000 rad/s
Feed forward gain
Deviation
Position
counter
loop
Speed detection
Encoder/resolver
Unit
--- 0
Unit
Multiple 0.0
Unit
6,000
Speed loop
Current loop
Motor
Chapter 3
Factory setting
Factory setting
Factory setting