Omron OMNUC G5 User Manual page 377

Pn112
Torque Feed-forward Amount
Setting
0 to 1,000
range
Set the feed-forward amount in torque control. Increasing the set value decreases the position
error and increases the responsiveness. Overshooting, however, will occur more easily.
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 speed overshooting occurs or the noise during operation
is large when the feed forward 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.
Gain input
COM open
COM connected
For information on switching conditions between gain 1 and gain 2, refer to "6-7 Gain Switching
Function" (P.6-23).
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Unit 0.1%
Unit 0.01 ms
−
Unit
Explanation
Speed loop operation
PI operation
P operation
8-2 Gain Parameters
Position Speed Full closing
Default Power OFF
setting and ON
Position Speed Full closing
Default Power OFF
setting and ON
Default Power OFF
1
setting and ON
−
−
All
−
8
8-12