Omron OMNUC G5, Руководство пользователя, Страница: 377 / 550

8-12
8-2 Gain Parameters
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8
Parameters Details
Œ
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.
Œ
Set the time constant for the first-order lag filter inserted into the feed forward.
Œ
Setting the filter may improve operation if speed overshooting occurs or the noise during operation
is large when the feed forward is set high.
Explanation of Set Values
Œ
Select either PI/P operation switching or gain 1/gain 2 switching.
Œ
PI/P operation switching is performed using gain switching (GSEL: CN1 pin 27). PI is not changed,
however, if the Torque Limit Selection (Pn521) is set to 3.
Œ
For information on switching conditions between gain 1 and gain 2, refer to "6-7 Gain Switching
Function" (P.6-23).
Pn112
Torque Feed-forward Amount
Setting
range
0 to 1,000 Unit 0.1%
Default
setting
Power OFF
and ON
−
Position Speed Full closing
Pn113
Torque Feed-forward Command Filter
Setting
range
0 to 6,400 Unit 0.01 ms
Default
setting
Power OFF
and ON
−
Position Speed Full closing
Pn114
GAIN SWITCHING INPUT OPERATING mode Selection
Setting
range
0 to 1 Unit
−
Default
setting
1
Power OFF
and ON
−
All
Set
value
Explanation
0 Gain 1 (PI/P switching enabled)
1 Gain 1/gain 2 switching available
Gain input Speed loop operation
COM open PI operation
COM connected P operation