Omron CJ1W-MA - REV 10-2008, Operation Manual

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Servo Parameter Area Section 4-5
Servo Gain Parameters
Param-
eter No.
Parameter
name
Param-
eter
size
Contents Default
setting
Unit Setting
range
Enable
setting Details
Digit
No.
Name Set-
ting Explanation
Pn100 Speed loop
gain 2 Adjusts speed loop response. 800
×
0.1
Hz
10 to
20000 Online ---
Pn101 Speed loop
integration
constant 2 Speed loop integral time constant 2000
×
0.01
ms
15 to
51200 Online ---
Pn102 Position
loop gain 2 Adjusts position loop response. 400
×
0.1/s 10 to
20000
Online ---
Pn103 Inertia ratio 2 Set using the ratio between the machine system iner-
tia and the Servomotor rotor inertia. 300 % 0 to
20000 Online ---
Pn104 Speed loop
gain 2 2 Adjusts speed loop response (enabled by automatic
gain switching input). 800
×
0.1
Hz
10 to
20000 Online ---
Pn105 Speed loop
integration
constant 2 2 Speed loop integral time constant (enabled by auto-
matic gain switching input). 2000
×
0.01
ms
15 to
51200 Online ---
Pn106 Position
loop gain 2 2 Adjusts position loop response (enabled by automatic
gain switching input). 400
×
0.1/s 10 to
20000
Online ---
Pn107 Bias rota-
tional
speed 2 Sets position control bias. 0 r/min 0 to 450 Online ---
Pn108 Bias addi-
tion band 2 Sets the position control bias operation start using
deviation counter pulse width. 7 Com-
mand
unit 0 to 250 Online ---
Pn109 Feed-for-
ward
amount 2 Position control feed-forward compensation value 0 % 0 to 100 Online ---
Pn10A Feed-for-
ward com-
mand filter 2 Sets position control feed-forward command filter. 0
×
0.01
ms
0 to
6400 Online ---
Pn10B Speed con-
trol setting 2 0 P control
switching con-
ditions 0 Sets internal torque
command value
conditions
(Pn10C). 4 --- --- Online ---
1 Sets speed com-
mand value condi-
tions (Pn10d).
2 Sets acceleration
command value
conditions
(Pn10E).
3 Sets deviation
pulse value condi-
tions (Pn10F).
4 No P control
switching function
1 Speed control
loop switching 0 PI control 0 --- --- Offline ---
1 IP control
2 to 3 Not used.
2 Position loop
control method 0 Standard position
control 0 --- --- Offline ---
1 Less deviation con-
trol
2 to 3 Not used.
3 Not used. 0 (Do not change the
setting.) 0 --- --- --- ---
Pn10C P control
switching
(torque
command) 2 Sets level of torque command to switch from PI con-
trol to P control. 200 % 0 to 800 Online ---
Pn10D P control
switching
(speed
command) 2 Sets level of speed command to switch from PI control
to P control. 0 r/min 0 to
10000 Online ---