Omron ACCURAX G5 User Manual page 379

(3) Pn109 = 126 - For 200V drives of 1Kw or upper and 400V drives
(4) Pn109 = 84 - For 200V drives of less than 1 Kw
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.
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 to the torque loop. Increasing the set value decreases the position
error during acceleration and increases the responsiveness but the system may become more
noisy.
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 the noise during operation is large when the feedforward
is set high.
Pn114
GAIN SWITCHING INPUT OPERATING mode Selection
Setting
0 to 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.
Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Unit 0.1%
Unit 0.01 ms
Unit 0.1%
Unit 0.01 ms
−
Unit
Explanation
8-2 Gain Parameters
Position
Default Power OFF
300
setting and ON
Position
Default Power OFF
50
setting and ON
Position Speed Full closing
Default Power OFF
0
setting and ON
Position Speed Full closing
Default Power OFF
0
setting and ON
Default Power OFF
1
setting and ON
Full closing
−
Full closing
−
8
−
−
All
−
8-13