Omron CS1W-MCH71 -, Operation Manual

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Servo Parameter
Section 4-8
Pn102 Position loop gain 2 1/s 1 2000 40
●
Pn103 Inertia ratio 2 % 0 10000 0
●
Pn104 Speed loop gain 2 2 Hz 1 2000 40
●
Pn105 Speed loop integration time constant 2 2 0.01 ms 15 51200 2000
●
Pn106 Position loop gain 2 2 1/s 1 2000 40
●
Rotary Pn107 Bias 2 r/min 0 10000 0
●
Pn108 Bias additional width 2 Pulse 0 250 7
●
Pn109 Feed forward 2 % 0 100 0
●
Pn10A Feed forward filter time constant 2 0.01 ms 0 6400 0
●
Pn10B Advanced gain-related switch 2 --- --- --- 0000H
●
0 Mode switch select 0 Internal torque command is the switching
condition.(Level setting: Pn10C) 4
●
1 Speed command is the switching condi-
tion.(Level setting: Pn10D)
2 Acceleration is the switching condition.(Level
setting: Pn10E)
3 Error pulse is the switching condition.(Level
setting: Pn10F)
4 No mode switching function
1 Speed loop control
method 0 PI control 0
●
1 IP control
2 Reserved --- 0
3
R Reserved 0 --- 0
1 ---
2 ---
Pn10C Mode switch (Torque command) 2 % 0 800 200
●
Rotary Pn10D Mode switch (Speed command) 2 r/min 0 10000 0
●
Rotary Pn10E Mode switch (Acceleration) 2 10 r/
min/s 0 3000 0
●
Pn10F Mode switch (Error pulse) 2 Pulse 0 10000 0
●
Pn110 Real-time auto tuning-related switch 2 --- 0000H 3212H 0010H
●
0 Online auto tuning
method 0 Tuning just at beginning of an operation. 0
●
1 Always tuning
2 No auto tuning
1 Speed FB compensation
function select 0 With 1
●
1 Without
2 Viscous friction compen-
sation function select 0 Friction compensation: Nil 0
●
1 Friction compensation: Small
2 Friction compensation: Large
3
R
Reserved 0 --- 0
●
1 ---
2 ---
3 ---
Pn111 Speed FB compensation 2 --- 1 100 100
●
Pn112 R Reserved 2 % 0 1000 100
●
Pn113 R Reserved 2 0.1 Hz 0 10000 1000
●
Pn114 R Reserved 2 --- 0 400 200
●
Pn115 R Reserved 2 0.1 ms 0 1000 32
●
Pn116 R Reserved 2 0.1 ms 0 1000 16
●
Pn117 R Reserved 2 % 20 100 100
●
Pn118 R Reserved 2 % 50 100 100
●
Pn119
R
Reserved 2 1/s 1 2000 60
●
Pn11A R Reserved 2 0.1% 1 2000 1000
●
Type User
constant No.
Name Size Unit Lower
limit
Upper
limit
the Support
Tool initial
value
En-
able