Omron OMNUC G5 User Manual page 376

8-2 Gain Parameters
Pn104
Torque Command Filter Time Constant
Setting
range
Set the time constant for the first-order lag filter inserted into the torque command.
This parameter may be effective in suppressing vibration due to torsion resonance.
Pn105
Position Loop Gain 2
Setting
range
Set the responsiveness of the position control system for the second position loop.
Pn106
Speed Loop Gain 2
Setting
range
Set the responsiveness of the second speed loop.
Pn107
Speed Loop Integration Time Constant 2
Setting
range
Set the second speed loop integration time constant.
Pn108
Speed Feedback Filter Time Constant 2
Setting
range
Set the second speed feedback filter.
8
Pn109
Torque Command Filter Time Constant 2
Setting
range
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 gain switching condition is 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
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
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.
8-11
0 to 2,500 Unit
1 to 30,000 Unit
1 to 32,767 Unit
1 to 10,000 Unit
0 to 5 Unit
0 to 2,500 Unit
0 to 1,000 Unit
0 to 6,400 Unit
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Default
0.01 ms
setting
Default
0.1/s
setting
Default
0.1 Hz
setting
Default
0.1 ms
setting
Default
−
setting
Default
0.01 ms
setting
Default
0.1%
setting
Default
0.01 ms
setting
All
Power OFF
−
80
and ON
Position Full closing
Power OFF
−
20
and ON
All
Power OFF
−
80
and ON
All
Power OFF
−
50
and ON
All
Power OFF
−
0
and ON
All
Power OFF
−
100
and ON
Full closing
Position
Power OFF
−
and ON
Full closing
Position
Power OFF
−
and ON