Omron CJ1W-NC271 - 12-2009, Operation Manual

Page: 163 / 687

135
Servo Parameter Area
Section 4-5
Servo Gain Parameters
Pn003 Function
selection
applica-
tion switch
3 2 0 Analog moni-
tor 1 (AM) allo-
cation 0 Servomotor rota-
tion speed:
1 V/1,000 r/min 2 --- --- Online ---
1 Speed command:
1 V/1,000 r/min
2 Torque command:
1 V/100%
3 Position deviation:
0.05 V/1 command
unit
4 Position deviation:
0.05 V/100 com-
mand units
5 Command pulse
frequency:
1 V/1,000 r/min
6 Servomotor rota-
tion speed:
1 V/250 r/min
7 Servomotor rota-
tion speed:
1 V/125 r/min
8 to F Not used.
1 Analog moni-
tor 2 (NM) allo-
cation 0 to F Same as Pn003.0 0 --- --- Online ---
2 to 3 Not used. 0 (Do not change the
setting.) 0 --- --- --- ---
Pn004 Not used. --- --- --- --- (Do not change the
setting.) 0200 --- --- --- Fixed
setting:
0200
Pn005 Not used. --- --- --- --- (Do not change the
setting.) 0000 --- --- --- ---
Param-
eter No.
Parame-
ter 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 responsiveness. 80 Hz 1 to
2000 Online ---
Pn101 Speed
loop inte-
gration
constant 2 Speed loop integral time constant 2000
×
0.01
ms
15 to
51200 Online ---
Pn102 Position
loop gain 2 Adjusts position loop responsiveness. 40 1/s 1 to
2000 Online ---
Pn103 Inertia
ratio 2 Sets using the ratio between the machine system
inertia and the Servomotor rotor inertia. 300 % 0 to
20000 Online ---
Pn104 Speed
loop gain 2 2 Adjusts speed loop responsiveness (enabled by auto-
matic gain switching input). 80 Hz 1 to
2000 Online ---
Pn105 Speed
loop inte-
gration
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 responsiveness (enabled by
automatic gain switching input). 40 1/s 1 to
2000 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 ---
Param-
eter No.
Parame-
ter name
Param-
eter
size
Contents Default
setting
Unit Setting
range
Enable
setting Details
Digit
No.
Name Set-
ting Explanation