Omron OMNUC G, Руководство пользователя

Страница: 417 / 438

9-6
9-1 Parameter Tables
Appe
ndix
9
011
Speed Loop Gain
(RT)
Sets the speed loop responsiveness.
If the Inertia Ratio (Pn020) is set correctly, this
parameter is set to the Servomotor response
frequency.
500
×
0.1
Hz
1 to
30000
B
012
Speed Loop
Integration Time
Constant (RT)
Adjusts the speed loop integration time constant.
Set 9999 to stop integration operation while
retaining the integration value. A Setting of 10000
disables integration.
200
×
0.1
ms
1 to
10000
B
013
Speed
Feedback Filter
Time Constant
(RT)
Sets the type of speed detection filter time constant.
Normally, use a setting of 0.
0 --- 0 to 5 B
014
Torque
Command
Filter Time
Constant (RT)
Adjusts the first-order lag filter time constant for the
torque command section.
The torque filter setting may reduce machine
vibration.
80
×
0.01
ms
0 to 2500 B
015
Speed Feed-
forward Amount
(RT)
Sets the speed feed-forward amount.
This parameter is particularly useful when fast re-
sponse is required.
300
×
0.1
%
0 to 1000 B
016
Feed-forward
Filter Time
Constant (RT)
Sets the time constant for the speed feed-forward
first-order lag filter.
100
×
0.01
ms
0 to 6400 B
017 Reserved Do not change. 0 --- --- ---
018
Position Loop
Gain 2 (RT)
Sets the position loop gain when using gain 2
switching.
200
×
0.1
[1/s]
0 to
30000
B
019
Speed Loop
Gain 2 (RT)
Sets the speed loop gain when using gain 2 switch-
ing.
800
×
0.1
Hz
1 to
30000
B
01A
Speed Loop
Integration Time
Constant 2 (RT)
Sets the speed loop integration time constant when
using gain 2 switching.
Same function as Pn012.
Set 9999 to stop integration operation while
retaining the integration value. Setting 10000
disables integration.
500
×
0.1
ms
1 to
10000
B
01B
Speed
Feedback Filter
Time Constant 2
(RT)
Sets the speed detection filter when using gain 2
switching.
Normally, use a setting of 0.
When Instantaneous Speed Observer Setting
(Pn027) is enabled, this parameter will be disabled.
0 --- 0 to 5 B
01C
Torque
Command Filter
Time Constant 2
(RT)
Sets the first-order lag filter time constant for the
torque command section when using gain 2
switching.
100
×
0.01
ms
0 to 2500 B
01D
Notch Filter 1
Frequency
Sets the notch frequency of notch filter 1 for
resonance suppression.
1500 Hz
100 to
1500
B
100 to
1499
Filter enabled
1500 Filter disabled
01E
Notch Filter 1
Width
Selects the notch width of notch filter 1 for
resonance suppression.
Normally, use a setting of 2.
2 --- 0 to 4 B
01F Reserved Do not change. 0 --- --- ---
020 Inertia Ratio (RT)
Selects the load inertia as a percentage of the
Servomotor rotor inertia.
300 %
0 to
10000
B
Pn
No.
Parameter name Setting Explanation
Default
Setting
Unit
Setting
Range
Attribute
Set
value