Omron ACCURAX G5 - Page 379

8-13
8-2 Gain Parameters
Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8
Parameters Details
(3) Pn109 = 126 - For 200V drives of 1Kw or upper and 400V drives
(4) Pn109 = 84 - For 200V drives of less than 1 Kw
 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 gains are 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.
Set the feed-forward amount to the torque loop. Increasing the set value decreases the position
error during acceleration and increases the responsiveness but the system may become more
noisy.
 Set the time constant for the first-order lag filter inserted into the feed forward.
Setting the filter may improve operation if the noise during operation is large when the feedforward
is set high.
Explanation of Set Values
 Select either PI/P operation switching or gain 1/gain 2 switching.
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.
Pn110
Speed Feed-forward Amount
Setting
range
0 to 1,000 Unit 0.1%
Default
setting
300
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
50
Power OFF
and ON
−
Position
Full closing
Pn112
Torque Feed-forward Amount
Setting
range
0 to 1,000 Unit 0.1%
Default
setting
0
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
0
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