Omron CJ1W-NC271 - 12-2009, Operation Manual

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Servo Parameter Area
Section 4-5
Pn00C RS-232
Baud Rate
Setting 2 Sets the baud rate for RS-232 communications. 2 --- 0 to 5 Online
0 2,400 bps
1 4,800 bps
2 9,600 bps
3 19,200 bps
4 38,400 bps
5 57,600 bps
Pn00D Reserved --- Do not change. 0 --- --- ---
Pn00E Reserved --- Do not change. 0 --- --- ---
Pn00F Reserved --- Do not change. 0 --- --- ---
Pn010 Position
Loop Gain
(RT) 2 Sets the position loop responsiveness.
Increasing the gain increases position control responsiveness and
shortens stabilization time.
Oscillation or overshoot will occur if set too high. Adjust for opti-
mum responsiveness. 400
×
0.1
[1/s]
0 to 30000 Online Settings
can be
changed
when the
axes are
stopped
(Busy
Flag for
each axis
= 0).
Pn011 Speed Loop
Gain (RT) 2 Sets the speed loop responsiveness.
If the Inertia Ratio (Pn020) is set correctly, this parameter is set to
the Servomotor response frequency.
Increasing the gain increases the speed control responsiveness,
but too much gain may cause oscillating.
Small gain may cause overshoot in the speed response.
Adjust for optimum responsiveness. 500
×
0.1
Hz
1 to 30000 Online
Pn012 Speed Loop
Integration
Time Con-
stant (RT) 2 Adjusts the speed loop integration time constant.
Set a large value for large load inertia.
Decrease the setting for fast response with small inertia.
Set 9999 to stop integration operation while retaining the integra-
tion value. A setting of 10000 disables integration. 200
×
0.1
ms
1 to 10000 Online
Pn013 Speed
Feedback
Filter Time
Constant
(RT) 2 Sets the type of speed detection filter time constant.
Normally, use a setting of 0.
Increasing the value reduces the noise of the Servomotor but also
reduces its responsiveness.
This parameter is disabled if the Instantaneous Speed Observer
Setting (Pn027) is enabled. 0 --- 0 to 5 Online
Pn014 Torque
Command
Filter Time
Constant
(RT) 2 Adjusts the first-order lag filter time constant for the torque com-
mand section.
The torque filter setting may reduce machine vibration. 80
×
0.01
ms
0 to 2500 Online
Pn015 Speed
Feedfor-
ward
Amount
(RT) 2 Sets the speed feed-forward amount.
This parameter is particularly useful when fast response is
required. 300
×
0.1 % 0 to 1000 Online
Pn016 Feed-for-
ward Filter
Time Con-
stant (RT) 2 Sets the time constant for the speed feed-forward first-order lag fil-
ter. 100
×
0.01
ms
0 to 6400 Online
Pn017 Reserved --- Do not change. 0 --- --- ---
Param-
eter
No.
Parameter
name
Param-
eter
size
Setting Explanation Default
setting
Unit Setting
range
Enable
setting Details