Omron ACCURAX G5 User Manual page 527

Parameter
name
Torque Command
104
Filter Time Constant
105 Position Loop Gain 2 Set the position loop gain 2.
106 Speed Loop Gain 2 Set the speed loop gain 2.
Speed Loop
107 Integration Time
Constant 2
Speed
Feedback Filter
108
Time Constant
2
Torque
Command Filter
109
Time Constant
2
Speed Feed-
110
forward Amount
Speed Feed-
111 forward
Command Filter
Torque Feed-
112
forward Amount
Torque Feed-
113 forward
Command Filter
GAIN
SWITCHING
114 INPUT
OPERATING
mode Selection
SWITCHING
115 mode in
Position Control
Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Explanation
Set the time constant for the torque filter 1.
Set the speed loop integration time constant 2. 10000
The speed feedback filter 2 can be set to one
of 6 values.
Set the time constant for the torque filter 2.
Set the speed feed-forward amount.
Set the speed feed-forward filter time
constant.
Set the torque feed-forward amount.
Set the torque feed-forward filter.
Execute optimum tuning using the gain
switching function.
0 Gain 1 (PI/P switching enabled)
1 Gain 1 and gain 2 switching available
Select the gain switching condition for
position control.
It is necessary that Pn114 be set to 1.
0 Always gain 1
1 Always gain 2
2 Switching using gain switching input (GSEL)
3 Torque command change amount
4 Always gain 1
5 Command speed
6 Amount of position error
7 Command pulses received
8 Positioning completion signal (INP) OFF
9 Actual motor speed
10 Combination of command pulse input and speed
12-2 Parameter List
Default Setting
Unit
setting range
See 0.01 0 to
Note 4 ms 2,500
See
0 to 30,000 −
0.1/s
Note 5
See
0.1 Hz 1 to 32,767 −
Note 6
1 to
0.1 ms
10,000
−
0 0 to 5
See 0.01 0 to
Note 7 ms 2,500
0 to
300 0.1%
1,000
0.01 0 to
50
ms 6,400
0 to
0 0.1%
1,000
0.01 0 to
0
ms 6,400
−
1 0 to 1
−
0 0 to 10
12-15
Power
supply
OFF to
ON
−
−
−
−
−
−
−
−
−
12
−