8-10
8-2 Gain Parameters
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
8
Parameters Details
Set the time constant for the first-order lag filter inserted into the torque command.
This parameter may be effective in suppressing vibration due to torsion resonance.
Set the responsiveness of the position control system for the second position loop.
Set the responsiveness of the second speed loop.
Set the second speed loop integration time constant.
Set the second speed feedback filter.
Set the second torque filter time constant.
The parameters from Pn105 to Pn109 are the gain and time constants to be selected when the
GAIN SWITCHING INPUT OPERATING mode Selection (Pn114) is enabled.
The gain switching condition is switched according to the condition set in the SWITCHING mode
(Pn115, Pn120 and Pn124).
If the mechanical system inertia changes greatly or if you want to change the responsiveness
depending on whether the motor is rotating or being stopped, you can achieve the appropriate
control by setting the gains and time constants beforehand for each of these conditions, and
switching them according to the condition.
This parameter is automatically changed by executing realtime autotuning function. To set it
manually, set the REALTIME AUTOTUNING mode Selection (Pn002) to 0.
Pn104
Torque Command Filter Time Constant 1
Setting
range
0 to 2500
Unit
0.01 ms
Default
setting
84
*1
Data
attribute
B
*1.It is 126 for a Drive with 200 V and 1 kW or greater, or with 400 V.
All
Pn105
Position Loop Gain 2
Setting
range
1 to 30000
Unit
0.1/s
Default
setting
570
*1
Data
attribute
B
*1.It is 380 for a Drive with 200 V and 1 kW or greater, or with 400 V.
Position Full closing
Pn106
Speed Loop Gain 2
Setting
range
1 to 32767
Unit
0.1 Hz
Default
setting
270
*1
Data
attribute
B
*1.It is 180 for a Drive with 200 V and 1 kW or greater, or with 400 V.
All
Pn107
Speed Loop Integration Time Constant 2
Setting
range
1 to 10000
Unit
0.1 ms
Default
setting
10000
Data
attribute
B
All
Pn108
Speed Feedback Filter Time Constant 2
Setting
range
0 to 5
Unit
Default
setting
0
Data
attribute
B
All
Pn109
Torque Command Filter Time Constant 2
Setting
range
0 to 2500
Unit
0.01 ms
Default
setting
84
*1
Data
attribute
B
*1.It is 126 for a Drive with 200 V and 1 kW or greater, or with 400 V.
All
