Omron CJ1W-NC271 - 12-2009, Operation Manual

Page: 135 / 687

107
Servo Parameter Area
Section 4-5
Gain Parameter
Param-
eter
No.
Parameter name Param-
eter
size
Explanation Default
setting
Unit Setting
range
Data
attribute
100
(100) Position Loop Gain 1 2 Set the position loop gain 1. 320/
480 0.1/s 0 to 30000 B
101
(101) Speed Loop Gain 1 2 Set the speed loop gain 1. 180/
270 0.1Hz 1 to 32767 B
102
(102) Speed Loop Integral
Time Constant 1 2 Set the speed loop integration time constant 1. 210/
310 0.1ms 1 to 10000 B
103
(103) Speed Feedback Fil-
ter Time Constant 1 2 The speed feedback filter 1 can be set to one of 6 val-
ues. 0 - 0 to 5 B
104
(104) Torque Command Fil-
ter Time Constant 1 2 Set the time constant for the torque filter 1.
84/126
0.01m
s 0 to 2500 B
105
(105) Position Loop Gain 2 2 Set the position loop gain 2. 380/
570 0.1/s 0 to 30000 B
106
(106) Speed Loop Gain 2 2 Set the speed loop gain 2. 180/
270 0.1Hz 1 to 32767 B
107
(107) Speed Loop Integra-
tion Time Constant 2 2 Set the speed loop integration time constant 2. 10000 0.1ms 1 to 10000 B
108
(108) Speed Feedback Fil-
ter Time Constant 2 2 The speed feedback filter 2 can be set to one of 6 val-
ues. 0 - 0 to 5 B
109
(109) Torque Command
Filter Time Constant
2 2 Set the time constant for the torque filter 2.
84/126
0.01m
s 0 to 2500 B
110
(10A) Speed Feed-forward
Amount 2 Set the speed feed-forward amount. 300 0.1% 0 to 1000 B
111
(10B) Speed Feed-forward
Command Filter 2 Set the speed feed-forward filter time constant. 50 0.01m
s 0 to 6400 B
112
(10C) Torque Feed-forward
Amount 2 Set the torque feed-forward amount. 0 0.1% 0 to 1000 B
113
(10D) Torque Feed-forward
Command Filter 2 Set the torque feed-forward filter. 0 0.01m
s 0 to 6400 B
114
(10E) Gain Switching Input
Operating Mode
Selection 2 Execute optimum tuning using the gain switching func-
tion.
0: Gain 1 (PI/P switching enabled)
1: Gain 1 and gain 2 switching available 1 - 0 to 1 B
115
(10F) Switching Mode in
Position Control 2 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: Gain switching command input via MECHA-
TROLINK-II communications
3: Torque command change amount
4: Always gain 1
5: Command speed
6: Amount of position error
7: When the position command is received.
8: Positioning completion signal (INP) OFF
9: Actual motor speed
10:Combination of position command input and rota-
tion speed
0 - 0 to 10 B
116
(110) Gain Switching Delay
Time in Position Con-
trol 2 Set the delay time for switching from gain 2 to gain 1. 50 0.1ms 0 to 10000 B
117
(111) Gain Switching Level
in Position Control 2 Set the gain switching level. 50 - 0 to 20000 B
118
(112) Gain Switching Hys-
teresis in Position
Control 2 Set the hysteresis for gain switching. 33 - 0 to 20000 B
119
(113) Position Gain Switch-
ing Time 2 Set the position gain switching time for gain switching. 33 0.1ms 0 to 10000 B