Omron 8U0108-E1-01, User Manual

Page: 183 / 333

XtraDrive User Manual Chapter
6
: Servo Adjustment
6-16
•
Ka (Pn1AD) range 0-500 [%], default 0. Filter Pn1AE range 0-
2500 [0.01ms] default 300:
This parameter is the acceleration gain. It can be used when there is
a high-resolution encoder. In most cases, a 0 value is used, but in
some cases it can improve the control quality.
•
Kff (Pn1AF) range 0-200 [%] default 0. This parameter is used
only in a serial command (Pn000.1=D):
This parameter is the feed forward of command acceleration into the
command torque. Tune this parameter after you finished tuning the
previous parameters. It reduces position error during movement and
during acceleration and deceleration phase.
6.3.4. OCA - Oscillation Canceling Algorithm
Version
XtraDrive
Version
XtraWare
Version
The following
description
relates to:
2.8 2.5.3
General Description
OCA is used to dynamically eliminate vibrations during motion. The
frequency of Speed Error vibrations (within the range of 500 – 2000
Hz) detected by the driver are eliminated on the fly, allowing increase
of gain and reduction of noise.
Recommendations:
•
Since autotuning takes the OCA into account, it is advisable to run
autotuning in the same OCA mode (active or non-active) as that in
which the system works.
•
Use a very low Torque Filter when the OCA is active.
•
It is possible to activate OCA together with the notch filter.
•
In cases of stiff machines where coupling with the load is very
strong (no backlash, no coupling or very stiff coupling), better
performance can be obtained without OCA.
Setting
Parameter Name Setting Description Default
0 OCA is not active
Pn2D4
Oscillation
Canceling
Mode
1 OCA is active
1