Omron OMNUC W Series, User Manual, Page: 274 / 408

4-58
•
Set both Pn305 and Pn306 to 0 if using a position controller with acceleration and deceleration func-
tions, or if not using speed control and internally-set speed control.
Note Refer to 4-5-11 Soft Start Function for details.
Pn307 Speed command filter time constant (All operation modes)
Setting
range
0 to 65535 Unit x 0.01 ms Default
setting
40 Restart
power?
No
•
Sets the REF (speed command input) voltage (primary) filter time constant.
•
Set if the Servomotor rotation speed is fluctuating due to REF voltage noise. (Set the value as small as
possible to minimize the effects of noise. If the setting is too large, responsiveness will be reduced.)
Pn308 Speed feedback filter time constant (Position, speed, internally-set speed control)
Setting
range
0 to 65535 Unit x 0.01 ms Default
setting
0 Restart
power?
No
•
Sets the filter time constant (primary filter) for speed feedback.
•
Set this parameter if the speed loop gain cannot be raised due to factors such as mechanical system
vibration.
Note When speed feedback filter is set, online auto-tuning does not operate normally.
H
Torque Control Parameters (From Pn400)
Pn400 Torque command scale (All operation modes)
Setting
range
10 to 100 Unit 0.1 V/rated
torque
Default
setting
30 Restart
power?
No
•
This parameter sets the relationship between TREF (torque command input) voltage and output
torque.
•
Set the TREF voltage to output the rated torque.
•
The default setting is for a rated torque at TREF 3 V.
Note TREF voltage functions as an input voltage according to the control mode and parameter set-
tings, as shown below.
S
Torque control: torque command input
S
Position and speed control: analog torque limit (when Pn002.0 = 1 or 3).
Torque feed-forward input (when Pn002.0 = 2)
Pn401 Torque command filter time constant (All operation modes)
Setting
range
0 to 65535 Unit x 0.01 ms Default
setting
40 Restart
power?
No
•
Sets the (primary) filter time constant for the internal torque command.
When the mechanical resonance frequency is within the response frequency of the servo loop, Servo-
motor vibration will occur. In order to prevent this from occurring, set the torque command filter time
constant.
The relationship between the filter time constant and the cut-off frequency can be found by means of the
following formula:
Operation Chapter 4
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