Omron OMNUC G5 R88D-KN series, User Manual

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8-11
8-2 Gain Parameters
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
8
Parameters Details
 Set the feed-forward amount.
 Increasing the set value decreases the position error and increases the responsiveness.
Overshooting, however, will occur more easily.
 Refer to "10-11 Feed-forward Function (P.10-36)".
 Set the time constant for the first-order lag filter inserted into the feed forward.
 Setting the filter may improve operation if speed overshooting occurs or the noise during operation
is large when the feed forward is set high.
 Refer to "10-11 Feed-forward Function (P.10-36)".
 Set the feed-forward amount in torque control. Increasing the set value decreases the position
error and increases the responsiveness. Overshooting, however, will occur more easily.
 Refer to "10-11 Feed-forward Function (P.10-36)".
 Set the time constant for the first-order lag filter inserted into the feed forward.
 Setting the filter may improve operation if speed overshooting occurs or the noise during operation
is large when the feed forward is set high.
 Refer to "10-11 Feed-forward Function (P.10-36)".
 Select either PI/P operation switching or gain 1/gain 2 switching.
 The PI/P operation switching is the switching made by the speed loop PI/P control command in
MECHATROLINK-II communications.
 Refer to "6-9 Gain Switching Function (P.6-25)" for the Gain 1/Gain 2 switching.
Explanation of Set Values
Pn110
Speed Feed-forward Amount
Setting
range
0 to 1000 Unit 0.1%
Default
setting
300
Data
attribute
B
Position
Full closing
Pn111
Speed Feed-forward Command Filter
Setting
range
0 to 6400 Unit 0.01 ms
Default
setting
50
Data
attribute
B
Position
Full closing
Pn112
Torque Feed-forward Amount
Setting
range
0 to 1000 Unit 0.1%
Default
setting
0
Data
attribute
B
Position Speed Full closing
Pn113
Torque Feed-forward Command Filter
Setting
range
0 to 6400 Unit 0.01 ms
Default
setting
0
Data
attribute
B
Position Speed Full closing
Pn114
GAIN SWITCHING INPUT OPERATING mode Selection
Setting
range
0 to 1 Unit

Default
setting
1
Data
attribute
B
All
Set
value
Description
0 Gain 1 (PI/P switching enabled)
1 Gain 1/gain 2 switching available