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8-11
8-2 Gain Parameters
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
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 GAIN 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.
Set the feed-forward amount. Increasing the set value decreases the position error and increases
the responsiveness. Overshooting, however, will occur more easily.
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.
Pn104
Torque Command Filter Time Constant
Setting
range
0 to 2,500
Unit
0.01 ms
Default
setting
80
Power OFF
and ON
−
All
Pn105
Position Loop Gain 2
Setting
range
1 to 30,000
Unit
0.1/s
Default
setting
20
Power OFF
and ON
−
Position Full closing
Pn106
Speed Loop Gain 2
Setting
range
1 to 32,767
Unit
0.1 Hz
Default
setting
80
Power OFF
and ON
−
All
Pn107
Speed Loop Integration Time Constant 2
Setting
range
1 to 10,000
Unit
0.1 ms
Default
setting
50
Power OFF
and ON
−
All
Pn108
Speed Feedback Filter Time Constant 2
Setting
range
0 to 5
Unit
−
Default
setting
0
Power OFF
and ON
−
All
Pn109
Torque Command Filter Time Constant 2
Setting
range
0 to 2,500
Unit
0.01 ms
Default
setting
100
Power OFF
and ON
−
All
Pn110
Speed Feed-forward Amount
Setting
range
0 to 1,000
Unit
0.1%
Default
setting
Power OFF
and ON
−
Position
Full closing
Pn111
Speed Feed-forward Command Filter
Setting
range
0 to 6,400
Unit
0.01 ms
Default
setting
Power OFF
and ON
−
Position
Full closing