Omron G5 Series User Manual

5 Basic Control Mode
5 - 12
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
5-2-4 Parameter Block Diagram for Speed Control Mode
Pn101: Speed Gain Pn102:
Integral Time Constant
Pn106: Speed Gain 2 Pn107:
Integral Time Constant 2
Pn004: Inertia Ratio 1 Pn612: Filter Selection Pn613: Inertia Ratio 2
Pn104
: Torque Filter 1
Pn109
: Torque Filter 2
Pn521: Torque Limit Selection Pn013: No. 1 Torque Limit Pn522: No. 2 Torque Limit
Pn103: Speed Feedback Filter Time Constant Pn108: Speed Feedback Filter Time Constant 2 Pn610: Function Expansion Setting
Encoder
Motor
Main
power
supply
+
+
+
+
+
+
–
Pn312:
Acceleration time
Pn313:
Deceleration time
Pn314: S-curve
Pn011: 1 Rotation Pn012: Reverse
Numerator /Denominato
Pn503: Denominato
Encoder Pulse Output
A B
Z
Pulse Regeneration
Acceleration/Deceleration
Pn300:
Internal or external switching
Pn301: Direction Spacified
Speed Command Selection
Pn112: Gain Pn113: Filter
Torque
Feed-forward
Pn623: Gain Pn624: Filter
Disturbance
Observer
Pn607: Offset Value Pn608:
Forward Direction
Pn609:
Reverse Direction
Friction
Compensation
Pn114: Setting 2 Pn120: Mode Pn121: Delay Time Pn122: Level Pn123: Hysteresis
Gain Switching
Pn200:
Adaptive Filter Selection
Pn201: Frequency 1 Pn204: Frequency 2 Pn207: Frequency 3 Pn210: Frequency 4 Pn202: Notch 1 Width Pn205: Notch 2 Width Pn208: Notch 3 Width Pn211: Notch 4 Width Pn203: Notch 1 Depth Pn206: Notch 2 Depth Pn209: Notch 3 Depth Pn212: Notch 4 Depth
Notch Filter
Speed Control
Torque Limit
Pn611: Response Setting
Current control
Torque Filter
Speed Detection Filter
Speed Detection
Speed Control Command
Motor Speed
Torque Command
Feedback Pulse Accumulation
Internally Set Speed
Pn201: Speed 1 Pn202: Speed 2 Pn204: Speed 3 Pn205: Speed 4 Pn207: Speed 5 Pn208: Speed 6 Pn210: Speed 7 Pn211: Speed 8

Omron G5 Series Specifications

General

Feedback	Incremental Encoder, Absolute Encoder
Communication	EtherCAT
Safety Function	STO (Safe Torque Off)
Protection Functions	Overvoltage, Undervoltage, Overcurrent
Vibration Resistance	4.9 m/s² (10 to 55 Hz)